Intelligent control of quadruped gallops

In this paper, a new intelligent control approach for high-speed quadruped bounding and galloping gaits is presented. The controller is capable of learning the leg touchdown angles and leg thrusts required to track the desired running height and velocity of a quadruped in only one stride. Training o...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2003-12, Vol.8 (4), p.446-456
Main Authors: Marhefka, D.W., Orin, D.E., Schmiedeler, J.P., Waldron, K.J.
Format: Article
Language:English
Subjects:
Animals
Applied sciences
Automatic control
Biological
Biological and medical sciences
Biological system modeling
Biomechanics. Biorheology
Computer science
control theory
systems
Control system synthesis
Control systems
Control theory. Systems
Dynamical systems
Dynamics
Exact sciences and technology
Fundamental and applied biological sciences. Psychology
Gait
Galloping
Intelligent control
Leg
Legged locomotion
Mathematical model
Mathematical models
Mechanical engineering
Mechatronics
Robotics
Rule based
Tissues, organs and organisms biophysics
Velocity control
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Summary:In this paper, a new intelligent control approach for high-speed quadruped bounding and galloping gaits is presented. The controller is capable of learning the leg touchdown angles and leg thrusts required to track the desired running height and velocity of a quadruped in only one stride. Training of the controller is accomplished not with a mathematical model, but with simple rules based on a heuristic knowledge of the quadruped mechanics. The result is a controller that produces better velocity and height tracking characteristics than a Raibert-based controller and is robust to modeling errors. Additionally, by making use of the natural dynamics of the system, gait characteristics comparable to biological quadrupeds result. The status of a legged machine being constructed for demonstration of the control approach and further study of the characteristics of galloping is also presented.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2003.820001