Author
Özçınar, Erim Can, Bebek, Özkan, Uğurlu, Regaip Barkan
Publication Date
2023
Publication Place
-
IEEE
Subject
Contact force distribution, Locomotion control, Quadruped walking
Type
Document
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
2-s2.0-85158145531
Record ID
901485cf-4cda-4f1a-b27f-972fcd4a6659
Library Location
Mechanical Engineering
Date
2023
Sample Text
This paper proposes a method to distribute contact forces to eliminate undesired torso orientation fluctuations and regulate heading during dynamic quadruped trot-walking motion. The proposed method makes use of centroidal momentum, an essential physical quantity in characterizing the whole-body behavior and overall balance of the robot. The contact forces are computed using centroidal momentum feedback and injected into the locomotion controller via virtual model control, which can render virtual forces to regulate robot-environment interaction. In combining the virtual model control and centroidal momentum feedback, one can attain dynamically feasible contact force distribution, a key objective in controlling dynamic quadruped locomotion. In order to validate the proposed method, a series of simulation experiments were conducted using a realistic model of our quadruped robot Kara. As a result, we obtained dynamically consistent trot-walking behavior in which torso orientation and heading were well regulated.
DOI
10.1109/ICM54990.2023.10101987
