Locomotion control of quadruped robots based on workspace trajectory modulations
Liu, Chengju J.
Wang, Danwei W.
Chen, Qijun J.
Date of Issue2012
School of Electrical and Electronic Engineering
Designing an effective motion control for legged robots is a challenging task. Inspired by biological concept of central pattern generator, this paper proposes a locomotion control system consisting of a workspace trajectory modulator and a motion engine. The modulator adjusts swinging phase and supporting phase of a leg by adjusting toe positions on a predesigned workspace trajectory, while motion engine generates accurate joint control signals. With body attitude feedback, the modulator adjusts the durations of swinging phase and supporting phase in real time through mutual entrainment. This proposed control system ensures that the robot locomotion is adaptive to various terrains and environments. Extensive experiments using an AIBO robot validate the proposed control scheme and the AIBO adapts its walking patterns according to environmental properties.
DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
International Journal of Robotics and Automation
© 2012 ACTA Press. This paper was published in International Journal of Robotics and Automation and is made available as an electronic reprint (preprint) with permission of ACTA Press. The published version is available at: [http://dx.doi.org/10.2316/Journal.206.2012.4.206-3560]. One print or electronic copy may be made for personal use only. Systematic or multiple reproduction, distribution to multiple locations via electronic or other means, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper is prohibited and is subject to penalties under law.