Abstract
Traversing unstructured environments, (statically stable) legged robots could be applied effectively but, they face two main problems: the high complexity of the system and the low speed of locomotion. To address the complexity of the controller, we apply a control layer that abstracts the legged robot to an omni-directional moving mass. In this control scheme, we apply the gait generator as proposed by Estremera and de Santos. We present theory to determine the theoretically maximum achievable velocity of a quadruped and compare the (omni-directional) maximum velocity of the selected gait generator with this optimum to validate its performance. For our use case the theoretically maximum achievable velocity is 1 ms − 1; in simulations we achieve a velocity for straight movement of maximum 0.75 ms − 1. Normal turns with a radius larger than 0.45 m are possible at a velocity of at least 0.1 ms − 1; the performance of crab turns is too unpredictable to be useful. The gait generator as proposed by Estremera and de Santos is partially capable of supporting omni-directional movement at satisfactory velocities.
Original language | Undefined |
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Title of host publication | 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014 |
Place of Publication | Cham, Heidelberg, New York, Dordrecht, London |
Publisher | Springer |
Pages | 486-497 |
Number of pages | 12 |
ISBN (Print) | 978-3-319-11899-4 |
DOIs | |
Publication status | Published - 20 Oct 2014 |
Event | 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014 - Giovanni XXIII Conference Center, Bergamo, Italy Duration: 20 Oct 2014 → 23 Oct 2014 Conference number: 4 https://sites.google.com/site/simpar2014/home |
Publication series
Name | Lecture Notes in Computer Science |
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Publisher | Springer International Publishing |
Volume | 8810 |
ISSN (Print) | 0302-9743 |
ISSN (Electronic) | 1611-3349 |
Conference
Conference | 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014 |
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Abbreviated title | SIMPAR 2014 |
Country/Territory | Italy |
City | Bergamo |
Period | 20/10/14 → 23/10/14 |
Internet address |
Keywords
- EWI-25023
- METIS-309574
- IR-93328