A disturbance observer for robust position tracking control and ground contact detection of a Cheetaroid-I leg

Quadruped robot systems are being intensively investigated by as a new means of transportation systems with multi-purposes. As the operation conditions of such systems, such as a payload, gait speed, and so on, are demanding, the control of the robotic legs is challenging. In addition, the dynamics...

Full description

Saved in:
Bibliographic Details
Main Authors: Jungsu Choi, Byeonghun Na, Sehoon Oh, Kyoungchul Kong
Format: Conference Proceeding
Language:English
Subjects:
Force
Force measurement
Force sensors
Legged locomotion
Observers
Trajectory
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Quadruped robot systems are being intensively investigated by as a new means of transportation systems with multi-purposes. As the operation conditions of such systems, such as a payload, gait speed, and so on, are demanding, the control of the robotic legs is challenging. In addition, the dynamics of such systems is subjected to large disturbances and parameter variations due to the ground contact and the complicated mechanical structure. In this paper, a robust control algorithm based on a disturbance observer (DOB) is proposed for the control of legs of a quadruped robot, Cheetaroid-I. The DOB enables rejecting disturbances caused by the ground contact, payload, etc, and detecting the ground contact without force sensors. The proposed method is verified by experimental results.
ISSN:2159-6247
2159-6255
DOI:10.1109/AIM.2014.6878049