Control and omni-directional locomotion of a crawling quadruped

Douwe Dresscher; Michiel van der Coelen; Johannes F. Broenink; Stefano Stramigioli

doi:10.1007/978-3-319-11900-7_41

Control and omni-directional locomotion of a crawling quadruped

Douwe Dresscher, Michiel van der Coelen, Johannes F. Broenink, Stefano Stramigioli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

1 Citation (Scopus)

3 Downloads (Pure)

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
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	https://doi.org/10.1007/978-3-319-11900-7_41
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
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
Abbreviated title	SIMPAR 2014
Country	Italy
City	Bergamo
Period	20/10/14 → 23/10/14
Internet address	https://sites.google.com/site/simpar2014/home

Keywords

EWI-25023
METIS-309574
IR-93328

Access to Document

10.1007/978-3-319-11900-7_41

http://eprints.eemcs.utwente.nl/secure2/25023/01/document.pdf

Cite this

Dresscher, Douwe ; van der Coelen, Michiel ; Broenink, Johannes F. ; Stramigioli, Stefano. / Control and omni-directional locomotion of a crawling quadruped. 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014. Cham, Heidelberg, New York, Dordrecht, London : Springer, 2014. pp. 486-497 (Lecture Notes in Computer Science).

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Dresscher, D, van der Coelen, M, Broenink, JF & Stramigioli, S 2014, Control and omni-directional locomotion of a crawling quadruped. in 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014. Lecture Notes in Computer Science, vol. 8810, Springer, Cham, Heidelberg, New York, Dordrecht, London, pp. 486-497, 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014, Bergamo, Italy, 20/10/14. https://doi.org/10.1007/978-3-319-11900-7_41

Control and omni-directional locomotion of a crawling quadruped. / Dresscher, Douwe; van der Coelen, Michiel; Broenink, Johannes F.; Stramigioli, Stefano.

4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014. Cham, Heidelberg, New York, Dordrecht, London : Springer, 2014. p. 486-497 (Lecture Notes in Computer Science; Vol. 8810).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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N2 - 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.

AB - 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.

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BT - 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014

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Y2 - 20 October 2014 through 23 October 2014

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Dresscher D, van der Coelen M, Broenink JF , Stramigioli S. Control and omni-directional locomotion of a crawling quadruped. In 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014. Cham, Heidelberg, New York, Dordrecht, London: Springer. 2014. p. 486-497. (Lecture Notes in Computer Science). https://doi.org/10.1007/978-3-319-11900-7_41