Adaptive running of a quadruped robot on irregular terrain based on biological concepts

2004 ◽  
Author(s):  
Z.G. Zhang ◽  
Y. Fukuoka ◽  
H. Kimura
Keyword(s):  
Quadruped Robot ◽  
Irregular Terrain ◽  
Biological Concepts

Biologically inspired adaptive walking of a quadruped robot

2006 ◽  
Vol 365 (1850) ◽  
pp. 153-170 ◽  
Author(s):  
Hiroshi Kimura ◽  
Yasuhiro Fukuoka ◽  
Avis H Cohen
Keyword(s):  
Necessary Conditions ◽  
Neural System ◽  
Quadruped Robot ◽  
System Model ◽  
Neural Systems ◽  
Biologically Inspired ◽  
Irregular Terrain ◽  
Quadruped Robots ◽  
Model Control ◽  
Biological Concepts

We describe here the efforts to induce a quadruped robot to walk with medium-walking speed on irregular terrain based on biological concepts. We propose the necessary conditions for stable dynamic walking on irregular terrain in general, and we design the mechanical and the neural systems by comparing biological concepts with those necessary conditions described in physical terms. PD-controller at joints constructs the virtual spring–damper system as the viscoelasticity model of a muscle. The neural system model consists of a central pattern generator (CPG), reflexes and responses. We validate the effectiveness of the proposed neural system model control using the quadruped robots called ‘Tekken1&2’. MPEG footage of experiments can be seen at http://www.kimura.is.uec.ac.jp .

scholarly journals Stability Criterion for Dynamic Gaits of Quadruped Robot

2018 ◽  
Vol 8 (12) ◽  
pp. 2381 ◽  
Author(s):  
Yan Jia ◽  
Xiao Luo ◽  
Baoling Han ◽  
Guanhao Liang ◽  
Jiaheng Zhao ◽  
...  
Keyword(s):  
Dynamic Stability ◽  
Stability Criterion ◽  
Quadruped Robot ◽  
Stability Criteria ◽  
Irregular Terrain ◽  
Quadruped Robots ◽  
Simulation Results ◽  
Zero Moment ◽  
The Stability ◽  
Dynamic Gait

Dynamic-stability criteria are crucial for robot’s motion planning and balance recovery. Nevertheless, few studies focus on the motion stability of quadruped robots with dynamic gait, none of which have accurately evaluated the robots’ stability. To fill the gaps in this field, this paper presents a new stability criterion for the motion of quadruped robots with dynamic gaits running over irregular terrain. The traditional zero-moment point (ZMP) is improved to analyze the motion on irregular terrain precisely for dynamic gaits. A dynamic-stability criterion and measurement are proposed to determine the stability state of the robot and to evaluate its stability. The simulation results show the limitations of the existing stability criteria for dynamic gaits and indicate that the criterion proposed in this paper can accurately and efficiently evaluate the stability of a quadruped robot using such gaits.

scholarly journals Adaptive Walking Control for a Quadruped Robot on Irregular Terrain Using the Complex-Valued CPG Network

Symmetry ◽  
2021 ◽  
Vol 13 (11) ◽  
pp. 2090
Author(s):  
Yong Zhang ◽  
Hao Wang ◽  
Yi Ding ◽  
Beiping Hou
Keyword(s):  
Control System ◽  
Quadruped Robot ◽  
Network Control ◽  
Joint Angles ◽  
Gait Planning ◽  
Irregular Terrain ◽  
Dc Motors ◽  
System A ◽  
Unit Model ◽  
Complex Valued

In this paper, we propose a CPG (central pattern generator) network control system using motor dynamics for the gait planning of a quadruped robot with a trot walking pattern to climb up and down a slope and turn back and follow the symmetry of route. The CPG unit model, which includes two DC motors model, has the ability to generate the periodic joint angle with complex-value parameters. Through plural feedback parameters, the CPG network can adjust the frequency and amplitude of an internal neuron model such as a robot meeting an irregular surface of a road. Using the stride length and frequency of robot joint angles, the distance of walking with a trot pattern can be calculated. In order to confirm the validity of the proposed control system, a quadruped robot is produced to implement the adaptive walking system.

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