A control architecture for quadruped locomotion over rough terrain

Robust and directive quadruped locomotion on rough terrain without requiring sensing and actuation

2016 IEEE International Conference on Robotics and Biomimetics (ROBIO) ◽

10.1109/robio.2016.7866414 ◽

2016 ◽

Cited By ~ 1

Author(s):

Takashi Takuma ◽

Wataru Kase

Keyword(s):

Rough Terrain ◽

Quadruped Locomotion

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Design of Vertebrae-Inspired Trunk Mechanism for Robust and Directive Quadruped Locomotion on Rough Terrain Without Requiring Sensing and Actuation

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2017.p0546 ◽

2017 ◽

Vol 29 (3) ◽

pp. 546-555 ◽

Cited By ~ 1

Author(s):

Takashi Takuma ◽

◽

Yoshiki Murata ◽

Wataru Kase

Keyword(s):

Rigid Body ◽

Success Rate ◽

Design Principle ◽

Quadruped Robot ◽

Rough Terrain ◽

Elastic Coefficient ◽

Sensors And Actuators ◽

Quadruped Locomotion ◽

Trunk Posture ◽

Simulation Results

[abstFig src='/00290003/10.jpg' width='300' text='Quadruped robot equipping a vertebrae-inspired trunk mechanism' ] Quadrupedal animals adaptively change their trunk posture in order to avoid falling down and to facilitate directive locomotion even on rough terrain. This paper focuses on an animal-like trunk mechanism which has passive viscoelastic joints. The effect of the trunk mechanism is observed by changing the elasticity and configuration of joints. Simulation results showed that the locomotion success rate of a robot equipped with the trunk mechanism on rough terrain is higher than the locomotion success rate of a robot equipped with a rigid body. In addition, the distribution of the success rate changes according to the elastic coefficient, number, configuration, and type of joints. These results suggest a design principle for the trunk mechanism of a quadruped robot in order to obtain robust and directive locomotion without requiring sensors and actuators.

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Effect of animal-like trunk mechanism for quadruped locomotion on rough terrain

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2016.2p2-12b4 ◽

2016 ◽

Vol 2016 (0) ◽

pp. 2P2-12b4

Author(s):

Takashi TAKUMA ◽

Takato FUKUI ◽

Tomoki SESOKO ◽

Masaki SUGIYAMA ◽

Wataru KASE

Keyword(s):

Rough Terrain ◽

Quadruped Locomotion

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Compliant quadruped locomotion over rough terrain

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems ◽

10.1109/iros.2009.5354681 ◽

2009 ◽

Cited By ~ 72

Author(s):

Jonas Buchli ◽

Mrinal Kalakrishnan ◽

Michael Mistry ◽

Peter Pastor ◽

Stefan Schaal

Keyword(s):

Rough Terrain ◽

Quadruped Locomotion

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A Real Time Control Architecture for Continuously Managing Patients in a Care Unit

Methods of Information in Medicine ◽

10.1055/s-0038-1634619 ◽

1995 ◽

Vol 34 (05) ◽

pp. 475-488

Author(s):

B. Seroussi ◽

J. F. Boisvieux ◽

V. Morice

Keyword(s):

Real Time ◽

Linear Time ◽

Treatment Plan ◽

Control Architecture ◽

Real Time Control ◽

Time Representation ◽

Time Control ◽

Continuous Support ◽

Definition Of ◽

Computerized System

Abstract:The monitoring and treatment of patients in a care unit is a complex task in which even the most experienced clinicians can make errors. A hemato-oncology department in which patients undergo chemotherapy asked for a computerized system able to provide intelligent and continuous support in this task. One issue in building such a system is the definition of a control architecture able to manage, in real time, a treatment plan containing prescriptions and protocols in which temporal constraints are expressed in various ways, that is, which supervises the treatment, including controlling the timely execution of prescriptions and suggesting modifications to the plan according to the patient’s evolving condition. The system to solve these issues, called SEPIA, has to manage the dynamic, processes involved in patient care. Its role is to generate, in real time, commands for the patient’s care (execution of tests, administration of drugs) from a plan, and to monitor the patient’s state so that it may propose actions updating the plan. The necessity of an explicit time representation is shown. We propose using a linear time structure towards the past, with precise and absolute dates, open towards the future, and with imprecise and relative dates. Temporal relative scales are introduced to facilitate knowledge representation and access.

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