NDLI: Motion control of a quadruped robot in unknown rough terrain using 3D spring damper leg model

Content Provider	Springer Nature Link
Author	Tran, Duc Trong Koo, Ig Mo Lee, Yoon Haeng Moon, Hyungpil Koo, Jachoon Park, Sangdeok Choi, Hyouk Ryeol
Copyright Year	2014
Abstract	This paper presents a simple method to control the motion of a quadruped robot in unknown rough terrain using a full dynamic model. First, using the stiffness control method, the behavior of the four legs is approximated using four 3D spring damper systems. In this way, the dynamic model can be derived in Cartesian space. Based on this model, a control strategy is proposed to preserve the asymptotical stability of the system. In addition, a reflex motion control is introduced to cope with the rotational disturbance of the robot body. Finally, dynamic simulations and experiments of a quadruped walking robot were performed on unknown rough terrain to verify the proposed method.
Starting Page	372
Ending Page	382
Page Count	11
File Format	PDF
ISSN	15986446
Journal	International Journal of Control, Automation and Systems
Volume Number	12
Issue Number	2
e-ISSN	20054092
Language	English
Publisher	Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date	2017-05-11
Publisher Place	Bucheon, Seoul
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	3D spring damper system dynamic legged locomotion quadruped locomotion Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications

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Motion control of a quadruped robot in unknown rough terrain using 3D spring damper leg model