Speed and height control for a special class of running quadruped robots

Cherouvim, N; Papadopoulos, E

dc.contributor.author	Cherouvim, N	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:45:48Z
dc.date.available	2014-03-01T02:45:48Z
dc.date.issued	2008	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32395
dc.subject	Control Design	en
dc.subject	Control Method	en
dc.subject	Dc Motor	en
dc.subject	Quadruped Robot	en
dc.subject	Robot Dynamics	en
dc.subject	Off The Shelf	en
dc.subject.other	Actuators	en
dc.subject.other	DC motors	en
dc.subject.other	Industrial engineering	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	International conferences	en
dc.subject.other	Quadruped Robots	en
dc.subject.other	Special class	en
dc.subject.other	Robotics	en
dc.title	Speed and height control for a special class of running quadruped robots	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2008.4543307	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2008.4543307	en
heal.identifier.secondary	4543307	en
heal.publicationDate	2008	en
heal.abstract	In this work a novel control method is presented for controlling the forward speed and apex height of a special class of running quadruped robot, with a dimensionless inertia of 1, and one actuator per leg. Seeking to minimize the parasitic pitching motion in running, pronking is used as the target gait. The control design is based on the robot dynamics, allowing its application to a wide range of robots of the class studied. Moreover, the controller adjusts the robot speed and height, requiring knowledge only of the robot physical parameters. The control ensures that negative actuator work during the stance phase is zero, thereby reducing the power expenditure. Small, off-the-shelf DC motors are adequate for the control implementation, while results of application to a detailed robot model show good performance even when including leg mass, foot collision, motor limitations, foot slipping and other factors. ©2008 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2008.4543307	en
dc.identifier.spage	825	en
dc.identifier.epage	830	en