Abstract
This article presents implementation of an online gait generator on a quadruped robot. Firstly, the design of a quadruped robot is presented. The robot contains four leg modules each of which is constructed by a 2 degrees of freedom (2-DOF) five-bar parallel linkage mechanism. Together with other two rotational DOF, the leg module is able to perform 4-DOF movement. The parallel mechanism of the robot allows all the servos attached on the body frame, so that the leg mass is decreased and motor load can be balanced. Secondly, an online gait generator based on dynamic movement primitives for the walking control is presented. Dynamic movement primitives provide an approach to generate periodic trajectories and they can be modulated in real time, which makes the online adjustment of walking gaits possible. This gait controller is tested by the quadruped robot in regulating walking speed, switching between forward\backward movements and steering. The controller is easy to apply, expand and is quite effective on phase coordination and online trajectory modulation. Results of simulated experiments are presented.
Highlights
Quadruped robots are useful in many tasks due to their ability to walk smoothly on rough terrain.[1]
Traditional motion control method can be interpreted as a kind of feed forward control strategy
We proposed a modular quadruped robot and an online gait generator for the control of walking
Summary
Quadruped robots are useful in many tasks due to their ability to walk smoothly on rough terrain.[1]. Same drawbacks as a feed forward control strategy have, traditional motion planning generally consumes much time, and is too complicated to extend or transplant. These characteristics make this approach quite suitable for low-speed discontinuous static gait generating which allows the robot to stop and think and avoid leg coordination at the same time. In this situation, the robot using traditional motion planning can have the ability to move Omnidirectionally. Dynamical movement primitives (DMPs)[13,14,15] provides a good solution for this problem It keeps the advantages of typical CPGs like the relative simple structure, disturbance robustness and coordination mechanism. Simulation results of the control method are presented in section ‘Simulation results and discussion’
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