Control and omni-directional locomotion of a crawling quadruped

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    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 languageUndefined
    Title of host publication4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014
    Place of PublicationCham, Heidelberg, New York, Dordrecht, London
    PublisherSpringer
    Pages486-497
    Number of pages12
    ISBN (Print)978-3-319-11899-4
    DOIs
    Publication statusPublished - 20 Oct 2014
    Event4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014 - Giovanni XXIII Conference Center, Bergamo, Italy
    Duration: 20 Oct 201423 Oct 2014
    Conference number: 4
    https://sites.google.com/site/simpar2014/home

    Publication series

    NameLecture Notes in Computer Science
    PublisherSpringer International Publishing
    Volume8810
    ISSN (Print)0302-9743
    ISSN (Electronic)1611-3349

    Conference

    Conference4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014
    Abbreviated titleSIMPAR 2014
    CountryItaly
    CityBergamo
    Period20/10/1423/10/14
    Internet address

    Keywords

    • EWI-25023
    • METIS-309574
    • IR-93328

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