Use of a novel multipart controller for the parametric study of a trotting quadruped robot

Cherouvim, N; Papadopoulos, E

dc.contributor.author	Cherouvim, N	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:45:50Z
dc.date.available	2014-03-01T02:45:50Z
dc.date.issued	2008	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32419
dc.subject	Parametric Study	en
dc.subject	Quadruped Robot	en
dc.subject	Robot Design	en
dc.subject	Steady State	en
dc.subject.other	Actuators	en
dc.subject.other	Computer networks	en
dc.subject.other	Industrial engineering	en
dc.subject.other	Machine design	en
dc.subject.other	Multipurpose robots	en
dc.subject.other	Robotics	en
dc.subject.other	Speed	en
dc.subject.other	International conferences	en
dc.subject.other	Parametric studies	en
dc.subject.other	Quadruped Robots	en
dc.subject.other	Robots	en
dc.title	Use of a novel multipart controller for the parametric study of a trotting quadruped robot	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2008.4543304	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2008.4543304	en
heal.identifier.secondary	4543304	en
heal.publicationDate	2008	en
heal.abstract	In this paper a novel multipart control is developed for a trotting quadruped robot. The control is designed to drive the quadruped to a steady-state motion with desired forward speed and apex height, using only one actuator per leg. The body pitching motion is controlled to be small. The controller is applied to the robot and the complete system is used to develop a parametric study for the robot. The study examines the behavior of the actuator effort and the leg touchdown angles, over a parametric region of both the robot physical parameters and the gait parameters. Interesting results appear, not previously reported, that may contribute to enhanced robot design and better gait selection for a given robot. Typical findings are that a robot should be lighter-weight when running on more slippery terrain, as well as that certain higher forward speeds require less actuator effort than other slower speeds. ©2008 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2008.4543304	en
dc.identifier.spage	805	en
dc.identifier.epage	810	en