Rolling Locomotion Control of a Biologically Inspired Quadruped Robot Based on Energy Compensation
Joint Authors
Mohan, Rajesh Elara
Iwase, Masami
Nemoto, Takuma
Source
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-10-05
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
We have developed a biologically inspired reconfigurable quadruped robot which can perform walking and rolling locomotion and transform between walking and rolling by reconfiguring its legs.
This paper presents an approach to control rolling locomotion with the biologically inspired quadruped robot.
For controlling rolling locomotion, a controller which can compensate robot’s energy loss during rolling locomotion is designed based on a dynamic model of the quadruped robot.
The dynamic model describes planar rolling locomotion based on an assumption that the quadruped robot does not fall down while rolling and the influences of collision and contact with the ground, and it is applied for computing the mechanical energy and a plant in a numerical simulation.
The numerical simulation of rolling locomotion on the flat ground verifies the effectiveness of the proposed controller.
The simulation results show that the quadruped robot can perform periodic rolling locomotion with the proposed energy-based controller.
In conclusion, it is shown that the proposed control approach is effective in achieving the periodic rolling locomotion on the flat ground.
American Psychological Association (APA)
Nemoto, Takuma& Mohan, Rajesh Elara& Iwase, Masami. 2015. Rolling Locomotion Control of a Biologically Inspired Quadruped Robot Based on Energy Compensation. Journal of Robotics،Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1070034
Modern Language Association (MLA)
Nemoto, Takuma…[et al.]. Rolling Locomotion Control of a Biologically Inspired Quadruped Robot Based on Energy Compensation. Journal of Robotics No. 2015 (2015), pp.1-10.
https://search.emarefa.net/detail/BIM-1070034
American Medical Association (AMA)
Nemoto, Takuma& Mohan, Rajesh Elara& Iwase, Masami. Rolling Locomotion Control of a Biologically Inspired Quadruped Robot Based on Energy Compensation. Journal of Robotics. 2015. Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1070034
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1070034