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2007
IEEE

Quadrupedal running at high speed over uneven terrain

9 years 4 months ago
Quadrupedal running at high speed over uneven terrain
— High-speed legged locomotion is complicated by the challenge of uneven terrain because the system must respond to the fast-changing terrain elevation under each foot, and quickly secure a solid foothold after touchdown. This paper presents a leg stretch reflex and anti-slip retraction algorithm that are added to a previously presented controller to stabilize a high-speed trot over uneven terrain. Together with fuzzy control and a force redistribution algorithm, these control mechanisms stabilize a quadruped trot at 5.25 m/s. The quadruped can turn at 30 deg/s when running at 3.0 m/s, and can maneuver over uneven terrain with standard deviation of height variation of 3 cm at 4.0 m/s. This appears to be the first reported control of high-speed quadrupedal running over uneven terrain.
Luther R. Palmer, David E. Orin
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where IROS
Authors Luther R. Palmer, David E. Orin
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