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	2014-03-01T02:51:16Z
dc.date.available	2014-03-01T02:51:16Z
dc.date.issued	2007	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/35433
dc.subject	Bounding	en
dc.subject	Quadruped robot	en
dc.subject	Speed control	en
dc.subject.other	Bounding gaits	en
dc.subject.other	Foot slipping	en
dc.subject.other	Friction models	en
dc.subject.other	Joint friction	en
dc.subject.other	Actuators	en
dc.subject.other	DC motors	en
dc.subject.other	Intelligent robots	en
dc.subject.other	Mathematical models	en
dc.subject.other	Parameter estimation	en
dc.subject.other	Speed control	en
dc.subject.other	Wheels	en
dc.title	Speed control of quadrupedal bounding using a reaction wheel	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CCA.2006.286201	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CCA.2006.286201	en
heal.identifier.secondary	4067466	en
heal.publicationDate	2007	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/CCA.2006.286201	en
dc.identifier.spage	2160	en
dc.identifier.epage	2165	en