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ICRA
2005
IEEE

Adaptive Running of a Quadruped Robot Using Delayed Feedback Control

10 years 3 months ago
Adaptive Running of a Quadruped Robot Using Delayed Feedback Control
— We report on the design and stability analysis of a simple quadruped running controller that can autonomously generate steady running with good energy efficiency and suppress such disturbances as irregularities of terrain. The selfstabilization property of the mechanical system is the inspirational source for our idea. We propose an original Delayed Feedback Control (DFC) approach based on measurements of the stance phase period obtained from contact sensors. Here, the DFC approach will not only stabilize running locomotion around the fixed point, but also result in transition from the stand state to the steady bounding running. Finally, we show several simulation results on different terrain (e.g., flat and step) to characterize the performance of the proposed controller. MPEG footage of simulations can be seen at: http://www.kimura.is.uec.ac.jp/running
Zu Guang Zhang, Yasuhiro Fukuoka, Hiroshi Kimura
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Zu Guang Zhang, Yasuhiro Fukuoka, Hiroshi Kimura
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