Abstract
This paper presents a coordination controller for the Dual-SLIP model, a novel template for quadrupedal steady and transitional running. The model consists of a pair of "physically-unconnected" Spring-Loaded Inverted Pendulums (SLIPs), each representing a part of the body of a quadruped (see Figure 1). For this model, we propose a spatiotemporal coordination controller that describes the evolution of coordination parameters by simple difference equations. A "time-aware" deadbeat low-level controller is also proposed to realizing the generated control specifications in each SLIP individually. Evaluation of the proposed coordination controller for the Dual-SLIP model in simulation shows that even with remarkably off-phase initial conditions and ground height variation disturbances, quadrupedal bounding, pronking and different transitions between them can be realized.
Original language | English |
---|---|
Title of host publication | Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) |
Editors | Dong-Soo Kwon, Chul-Goo Kang, Il Hong Suh |
Place of Publication | Piscataway, NJ, USA |
Publisher | IEEE |
Pages | 5440-5445 |
ISBN (Electronic) | 978-1-5090-3762-9 |
DOIs | |
Publication status | Published - 2016 |
Event | 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of Duration: 9 Oct 2016 → 14 Oct 2016 http://www.iros2016.org/ |
Conference
Conference | 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 |
---|---|
Abbreviated title | IROS 2016 |
Country/Territory | Korea, Republic of |
City | Daejeon |
Period | 9/10/16 → 14/10/16 |
Internet address |
Keywords
- Schedules
- Mathematical model
- Legged locomotion
- Torso
- Robot kinematics
- Generators