NDLI: Attitude Control of a Quadruped Trot While Turning

Content Provider	IEEE Xplore Digital Library
Author	Palmer, L.R. Orin, D.E.
Copyright Year	2006
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Ohio State Univ., Columbus, OH (Palmer, L.R.; Orin, D.E.)
Abstract	During a complete running stride, which involves significant periods of flight during which no legs are contacting the ground, a quadruped cannot employ static stability techniques. Instead, the corrective forces necessary to maintain dynamic stability must be applied during the short stance intervals inherent to high-speed running. Because of this complexity and the large coupled forces required to run, much of the research on the control of quadruped running has focused on planar systems which are not required to simultaneously control attitude in all three dimensions. The 3D trot controller presented here overcomes these and other complexities to control a trot up to 3.75 m/s, approximately 3 body lengths per second, and turning rates up to 20 deg/s. The biomimetic method of banking into a high-speed turn is also investigated here. Along with the details of the attitude control algorithm, a set of control principles for high-speed legged motion is presented. These principles, such as the need to counteract the disturbance of swing leg return and the usefulness of force redistribution during stance, are not dependent on a particular scale or actuation scheme and can be applied to a wider range of legged systems
Starting Page	5743
Ending Page	5749
File Size	374390
Page Count	7
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282381
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Turning Leg Stability Force control Control systems Attitude control Biomimetics Banking Motion control
Content Type	Text
Resource Type	Article

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