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ICRA
2007
IEEE

Force Redistribution in a Quadruped Running Trot

11 years 6 months ago
Force Redistribution in a Quadruped Running Trot
Abstract— In this paper, an attitude control strategy is developed for a high-speed quadruped trot. The forces in the trot are redistributed among the legs to stabilize the pitch and roll of the system. An important aspect of the strategy is that the controller works to preserve the passive dynamics of quadruped trotting that are accurately predicted by the spring-loaded inverted pendulum (SLIP) model. A hybrid control strategy is presented which allows the quadruped to reach a speed of 4.75 m/s and turn at a rate of 20 deg/s under operator control. The discrete part of the controller runs once per trot step and outputs a stance thrust energy and hip angles for touchdown. The stance thrust energy accounts for losses during the step, especially at touchdown. Both the stance thrust energy and hip angles dictate the natural dynamics during stance. The force redistribution algorithm continuously operates during stance to stabilize the body’s tilt axes, roll and pitch, with minimal effe...
Luther R. Palmer, David E. Orin
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Luther R. Palmer, David E. Orin
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