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...

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Bibliographic Details
Published in2007 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 303 - 308
Main Authors Palmer, L.R., Orin, D.E.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2007
Subjects
Aerodynamics
Animals
Contacts
Control systems
Foot
Force control
Fuzzy control
Leg
Legged locomotion
Vehicles
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ISBN9781424409112
142440911X
ISSN2153-0858
DOI10.1109/IROS.2007.4399496

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Summary: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.
ISBN:9781424409112
142440911X
ISSN:2153-0858
DOI:10.1109/IROS.2007.4399496