Speed control of quadrupedal bounding using a reaction wheel

Cherouvim, N; Papadopoulos, E

dc.contributor.author	Cherouvim, N	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:44:12Z
dc.date.available	2014-03-01T02:44:12Z
dc.date.issued	2006	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31745
dc.subject	Bounding	en
dc.subject	Quadruped robot	en
dc.subject	Speed control	en
dc.subject.other	Analytical expressions	en
dc.subject.other	Analytical results	en
dc.subject.other	Bounding	en
dc.subject.other	Bounding gait	en
dc.subject.other	Control methods	en
dc.subject.other	Control parameters	en
dc.subject.other	Controller tuning	en
dc.subject.other	Design parameters	en
dc.subject.other	Forward speed	en
dc.subject.other	Ground friction	en
dc.subject.other	Joint frictions	en
dc.subject.other	Quadruped robot	en
dc.subject.other	Reaction wheels	en
dc.subject.other	Robot dynamics	en
dc.subject.other	Robot model	en
dc.subject.other	Single actuators	en
dc.subject.other	Trial and error	en
dc.subject.other	Actuators	en
dc.subject.other	Control system analysis	en
dc.subject.other	DC generator motors	en
dc.subject.other	DC motors	en
dc.subject.other	Flight dynamics	en
dc.subject.other	Friction	en
dc.subject.other	Machine design	en
dc.subject.other	Motors	en
dc.subject.other	Multipurpose robots	en
dc.subject.other	Speed	en
dc.subject.other	Speed control	en
dc.subject.other	Speed regulators	en
dc.subject.other	Tuning	en
dc.subject.other	Wheels	en
dc.subject.other	Controllers	en
dc.title	Speed control of quadrupedal bounding using a reaction wheel	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CACSD-CCA-ISIC.2006.4776975	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CACSD-CCA-ISIC.2006.4776975	en
heal.identifier.secondary	4776975	en
heal.publicationDate	2006	en
heal.abstract	To date, quadruped speed control has either been achieved with two actuators per leg, or with single actuators and time consuming trial and error experimentation for controller tuning. In this paper, a novel control method is developed that uses only one actuator per leg and yet requires no controller tuning from the user, since the control parameters are computed through analytical expressions derived from the robot dynamics. One further actuator is used to drive a reaction wheel situated on the body. The control method leads to stable bounding gaits with controllable forward speed, and as the control is based on analytical results from the robot dynamics, it is applicable to a range of design parameters, rather than a specific robot. Light, off-the-shelf DC motors are shown to be adequate for successful controller operation. Results are shown of the control applied to a detailed robot model, including leg and toe mass, foot collision, DC motor model, joint friction and a foot-ground friction model allowing foot slipping. ©2006 IEEE.	en
heal.journalName	Proceedings of the IEEE International Conference on Control Applications	en
dc.identifier.doi	10.1109/CACSD-CCA-ISIC.2006.4776975	en
dc.identifier.spage	2160	en
dc.identifier.epage	2165	en