Stabilizing a Quadruped Robot Locomotion Using a Two Degree of Freedom Tail (CROSBI ID 597322)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Mutka, Alan ; Orsag, Matko ; Kovačić, Zdenko
engleski
Stabilizing a Quadruped Robot Locomotion Using a Two Degree of Freedom Tail
This paper investigates how to improve locomotion stability of a dynamical system composed of four springmass subsystems by using a tail-like inertial appendage. The paper presents a Denavit- Hartenberg parameterization based kinematic model combined with a Newton-Euler based dynamic model of a two degree of freedom tail. Impedance based leg control simplifies the leg motion so that it can be modeled as a damped spring-mass system. The tail presented in the paper is used as a counterweight, capable of shifting its center of mass so as to balance the body of the robot. To that end, a recursive algorithm that moves the tail in order to balance the robot is proposed. A realistic robot model is built in the Open Dynamic Engine environment and is used to conduct a series of tests proving the effectiveness of the proposed algorithm.
Quadruped; Stability; Simulation
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Podaci o prilogu
1336-1342.
2013.
objavljeno
Podaci o matičnoj publikaciji
Podaci o skupu
21st Mediterranean Conference on Control and Automation
predavanje
01.01.2013-01.01.2013
Kreta, Grčka