Pitch control for running quadrupeds using leg positioning in flight

Cherouvim, N; Papadopoulos, E

dc.contributor.author	Cherouvim, N	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:44:54Z
dc.date.available	2014-03-01T02:44:54Z
dc.date.issued	2007	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32013
dc.subject	Control Method	en
dc.subject	Quadruped Robot	en
dc.subject	Robot Design	en
dc.subject.other	Industrial engineering	en
dc.subject.other	Multipurpose robots	en
dc.subject.other	Robotics	en
dc.subject.other	Robots	en
dc.subject.other	Analytical expressions	en
dc.subject.other	Control and automation	en
dc.subject.other	Control methods	en
dc.subject.other	Control schemes	en
dc.subject.other	Pitch control	en
dc.subject.other	Pitching motions	en
dc.subject.other	Quadruped Robots	en
dc.subject.other	Robot designs	en
dc.subject.other	Robot modelling	en
dc.subject.other	Machine design	en
dc.title	Pitch control for running quadrupeds using leg positioning in flight	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/MED.2007.4433761	en
heal.identifier.secondary	4433761	en
heal.identifier.secondary	http://dx.doi.org/10.1109/MED.2007.4433761	en
heal.publicationDate	2007	en
heal.abstract	Pitching is often present as an undesirable motion in quadruped running. In gaits such as pronking, pitching must be completely suppressed for the proper execution of the gait. In this work, a novel control method is presented for controlling the pitching motion of a running quadruped robot in the pronking gait. A model of the quadruped robot is used to analyze the pitching motion dynamics. This analysis shows that setting the difference of the angles with which the back and front legs strike the ground is sufficient for controlling the pitching motion in the pronking gait. An analytical expression is derived which provides the necessary difference of the leg touchdown angles. It is further shown that there exists a particular robot design that is superior when suppressing the robot pitching motion. Implementation of the control scheme is shown through simulations of the robot model. © 2007 IEEE.	en
heal.journalName	2007 Mediterranean Conference on Control and Automation, MED	en
dc.identifier.doi	10.1109/MED.2007.4433761	en