Intelligent control of quadruped gallops

• 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
• ISSN: 1083-4435; 1941-014X
• DOI: 10.1109/TMECH.2003.820001

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.