A new algorithm to maintain lateral stabilization during the running gait of a quadruped robot |
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| Affiliation: | 1. University of Castilla-La Mancha, School of Industrial Engineering, Av. Camilo Jose Cela s/n, 13071, Ciudad Real, Spain;2. University of Jaen, School of Industrial Engineering, Campus Las Lagunillas s/n, 23071, Jaen, Spain;3. University of Castilla-La Mancha, School of Industrial Engineering, Avda. Carlos III s/n, Toledo, Spain;1. The Center of Excellence on Control and Robotics Department of Electrical Engineering, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran;2. Department of Electrical and Computer Engineering, Concordia University, Montreal, Quebec, Canada;1. Faculty of Science and Technology, Free University of Bozen-Bolzano Piazza Università, 39100 Bolzano, Italy;2. DIEGM - University of Udine, Via delle Scienze, 33100 Udine, Italy;1. Research Center “Enrico Piaggio”, and the Dipartimento di Ingegneria dell’Informazione, University of Pisa, Largo L. Lazzarino 2, 56100 Pisa, Italy;2. INRIA (Institut National de Recherche en Informatique et Automatique), Sophia Antipolis–Méditerranée, Lagadic project team, 2004 route des Lucioles, 06902 Sophia Antipolis, France;1. Department of Electrical, Electronic and Computer Systems, Central University of Technology Free State, South Africa;2. Department of Electrical Engineering, Tshwane University of Technology Pretoria, South Africa |
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| Abstract: | This paper presents a new uncoupled controller (based on a Kinetic Momentum Management Algorithm, KMMA) which allows a quadrupedal robot, whose operation is simple and fast, to run using a symmetrical gait patterns in a wide variety of scenarios. It consists of two tasks: calculating the lateral position and speed of the fore swinging leg when it next makes contact with the ground; and controlling the roll angle by mean of inertia forces using the stance legs.The KMMA provides the benefits of modulation and the synchronization typically presented in CPG (Central Pattern Generation) models. Furthermore, it is able to maintain the locomotion parameters (such as stroke frequency of gait pattern) when the robot runs in a highly disturbed environment, thus resulting in a lower energy consumption. Additionally, the uncoupled scheme of the leg makes the operation computationally cheap, thus avoiding the use of a Virtual Actuator Control or a Hybrid Zero Dynamics.The performance of the KMMA has been verified by means of co-simulation (using ADAMS and MATLAB) with a highly realistic model of a quadruped robot with uncoupled legs. The performance of the algorithm has been tested in different situations in which the following variables have been varied: frontal velocity, turning ratio, payload, external disturbances and terrain slope. Successful results in terms of stability, energy efficiency, and adaptability to a complex locomotion environment have been obtained. |
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| Keywords: | Uncoupled leg mechanism Quadruped robot stability Energy efficiency Under-actuated system Kinematic momentum management |
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