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AR
2005

Dynamic turning control of a quadruped locomotion robot using oscillators

13 years 3 months ago
Dynamic turning control of a quadruped locomotion robot using oscillators
The authors have proposed a dynamic turning control system of a quadruped robot by using nonlinear oscillators. It is composed of a spontaneous locomotion controller and voluntary motion controller. In this article, capability of dynamic turning motion of the proposed control system is verified through numerical simulations and hardware experiments: Various turning speed and orientation make the motion of the robot asymmetry in terms of duty ratio, stride and center of pressure. The proposed controller actively and adaptively controls redundant DOF to cancel the dynamic asymmetry and established stable turning motion at various locomotion speed and turning orientation.
Katsuyoshi Tsujita, Hiroomi Toui, Kazuo Tsuchiya
Added 15 Dec 2010
Updated 15 Dec 2010
Type Journal
Year 2005
Where AR
Authors Katsuyoshi Tsujita, Hiroomi Toui, Kazuo Tsuchiya
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