Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on roboCat-1 and hyQ

Name: Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on roboCat-1 and hyQ
Author: Uğurlu, Regaip Barkan, Havoutis, I., Semini, C., Kayamori, K., Caldwell, D. G., Narikiyo, T.

İsim	Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on roboCat-1 and hyQ
Yazar	Uğurlu, Regaip Barkan, Havoutis, I., Semini, C., Kayamori, K., Caldwell, D. G., Narikiyo, T.
Basım Tarihi:	2015-04
Basım Yeri	- Springer Science+Business Media
Konu	Quadrupedal locomotion, Dynamic trot-walking, Active compliance, Pattern generation
Tür	Süreli Yayın
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	1573-7527
Kayıt Numarası	ddf9eee3-3ffa-4444-8491-67b43af41918
Lokasyon	Mechanical Engineering
Tarih	2015-04
Notlar	Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Örnek Metin	In this paper, we introduce a method that synergistically combines an analytical pattern generator and a feedback controller frame, which are developed for the purpose of synthesizing dynamic quadrupedal trot-walking locomotion on flat and uneven surfaces. To begin with, the pattern generator analytically produces feasible and dynamically balanced joint motions in accordance with the desired trot-walking characteristics, with no empirical parameter tuning requirements. In concurrence with the pattern generation, a two-phased controller frame is constructed for closed-loop sensory feedback: (i) virtual admittance controller via force sensing, (ii) upper torso angular momentum regulation via gyro sensing. The former controller evaluates joint force errors and generates the corresponding joint displacement for a given set of virtual spring-damper couples. Together with the position constraints, these displacements are additionally fed-back to local servos for achieving compliant quadrupedal locomotion with which the position/force trade-off is addressed. The second controller, that is simultaneously used, evaluates the upper torso angular momentum rate change error using measured and reference orientation information. It then regulates the torso orientation in a dynamically consistent way as the rotational inertia is characterized. In order to validate the proposed methodology several experiments are conducted on both flat and uneven surfaces, using two robots with distinct properties; a ∼7 kg cat-sized electrically actuated quadruped (RoboCat-1), and a ∼80 kg Alpine Ibex-sized hydraulically actuated quadruped (HyQ). As a result we demonstrate continuous, repetitive, compliant and dynamically balanced trot-walking cycles in real-robot experiments, adequately confirming the effectiveness of the proposed approach.
DOI	10.1007/s10514-015-9422-7

Kaynağa git Özyeğin Üniversitesi

Aramaya Dön

Özyeğin Üniversitesi

Kaynağa git

Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on roboCat-1 and hyQ

Yazar Uğurlu, Regaip Barkan, Havoutis, I., Semini, C., Kayamori, K., Caldwell, D. G., Narikiyo, T.

Basım Tarihi 2015-04

Basım Yeri - Springer Science+Business Media

Konu Quadrupedal locomotion, Dynamic trot-walking, Active compliance, Pattern generation

Tür Süreli Yayın

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 1573-7527

Kayıt Numarası ddf9eee3-3ffa-4444-8491-67b43af41918

Lokasyon Mechanical Engineering

Tarih 2015-04

Notlar Due to copyright restrictions, the access to the full text of this article is only available via subscription.

Örnek Metin In this paper, we introduce a method that synergistically combines an analytical pattern generator and a feedback controller frame, which are developed for the purpose of synthesizing dynamic quadrupedal trot-walking locomotion on flat and uneven surfaces. To begin with, the pattern generator analytically produces feasible and dynamically balanced joint motions in accordance with the desired trot-walking characteristics, with no empirical parameter tuning requirements. In concurrence with the pattern generation, a two-phased controller frame is constructed for closed-loop sensory feedback: (i) virtual admittance controller via force sensing, (ii) upper torso angular momentum regulation via gyro sensing. The former controller evaluates joint force errors and generates the corresponding joint displacement for a given set of virtual spring-damper couples. Together with the position constraints, these displacements are additionally fed-back to local servos for achieving compliant quadrupedal locomotion with which the position/force trade-off is addressed. The second controller, that is simultaneously used, evaluates the upper torso angular momentum rate change error using measured and reference orientation information. It then regulates the torso orientation in a dynamically consistent way as the rotational inertia is characterized. In order to validate the proposed methodology several experiments are conducted on both flat and uneven surfaces, using two robots with distinct properties; a ∼7 kg cat-sized electrically actuated quadruped (RoboCat-1), and a ∼80 kg Alpine Ibex-sized hydraulically actuated quadruped (HyQ). As a result we demonstrate continuous, repetitive, compliant and dynamically balanced trot-walking cycles in real-robot experiments, adequately confirming the effectiveness of the proposed approach.

DOI 10.1007/s10514-015-9422-7