NDLI: A novel control strategy for quadruped robot walking over irregular terrain

Content Provider	IEEE Xplore Digital Library
Author	Peng Yin Pengfei Wang Mantian Li Lining Sun
Copyright Year	2011
Description	Author affiliation: State Key Lab. of Robotics and System, Harbin Institute of Technology, China (Peng Yin; Pengfei Wang; Mantian Li; Lining Sun)
Abstract	Quadruped robot has great potential in traversing irregular terrains. Normally its performance relies greatly on the accuracy of local terrain data that the onboard sensor system acquired. In order to reduce its reliance on terrain information for locomotion control to the minimum, in this paper we intend to provide a method to intensify its walking adaptability by endowing the robot with blind walking ability. Based on the transfer strategies provided in the paper, the rough terrain walking problem could be simplified as common slope walking condition, and motion planning could be achieved via some basic criteria. Impedance control is implemented to reduce impact when foot stride to ground. On purpose of coping with foot slippage which would cause robot to fall, reflex control strategy is applied and tested. Via simulation we tested the control strategy and the feasibility was verified.
Starting Page	184
Ending Page	189
File Size	673853
Page Count	6
File Format	PDF
ISBN	9781612842523
ISSN	21582181
e-ISBN	9781612842516
DOI	10.1109/RAMECH.2011.6070479
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-17
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Foot Robot sensing systems Planning Adaptation models Trajectory
Content Type	Text
Resource Type	Article

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