Experimentally validated bounding models for the Scout II quadrupedal robot
In this paper the authors discuss control and modeling issues significant for constructing simple running controllers and building experimentally validated simulation models for dynamically stable robots. A bounding controller resulting in dynamically stable running up to 1.3 m/s for the Scout II qu...
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| creator | Poulakakis, I. Smith, J.A. Buchler, M. |
| description | In this paper the authors discuss control and modeling issues significant for constructing simple running controllers and building experimentally validated simulation models for dynamically stable robots. A bounding controller resulting in dynamically stable running up to 1.3 m/s for the Scout II quadruped is presented. Simulation models are built and compared with experimental data to test the viability of various simplifying assumptions common in the literature for running robots. The authors demonstrate the need for including motor saturation and nor rigid torque transmission characteristics into simulation models. Similar issues are likely to be important in other legged robots as well. An extensive suite of experimental results documents the robot's performance and validates simulation models. |
| doi_str_mv | 10.1109/ROBOT.2004.1307452 |
| format | Conference Proceeding |
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A bounding controller resulting in dynamically stable running up to 1.3 m/s for the Scout II quadruped is presented. Simulation models are built and compared with experimental data to test the viability of various simplifying assumptions common in the literature for running robots. The authors demonstrate the need for including motor saturation and nor rigid torque transmission characteristics into simulation models. Similar issues are likely to be important in other legged robots as well. An extensive suite of experimental results documents the robot's performance and validates simulation models.</description><identifier>ISSN: 1050-4729</identifier><identifier>ISBN: 9780780382329</identifier><identifier>ISBN: 0780382323</identifier><identifier>EISSN: 2577-087X</identifier><identifier>DOI: 10.1109/ROBOT.2004.1307452</identifier><language>eng</language><publisher>Piscataway NJ: IEEE</publisher><subject>Applied sciences ; Computer science; control theory; systems ; Control theory. 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A bounding controller resulting in dynamically stable running up to 1.3 m/s for the Scout II quadruped is presented. Simulation models are built and compared with experimental data to test the viability of various simplifying assumptions common in the literature for running robots. The authors demonstrate the need for including motor saturation and nor rigid torque transmission characteristics into simulation models. Similar issues are likely to be important in other legged robots as well. An extensive suite of experimental results documents the robot's performance and validates simulation models.</description><subject>Applied sciences</subject><subject>Computer science; control theory; systems</subject><subject>Control theory. Systems</subject><subject>Exact sciences and technology</subject><subject>Hip</subject><subject>Intelligent robots</subject><subject>Intelligent structures</subject><subject>Leg</subject><subject>Legged locomotion</subject><subject>Machine intelligence</subject><subject>Mobile robots</subject><subject>Robot control</subject><subject>Robotics</subject><subject>Vehicle dynamics</subject><subject>Velocity control</subject><issn>1050-4729</issn><issn>2577-087X</issn><isbn>9780780382329</isbn><isbn>0780382323</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2004</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpFkNtKw0AQhhcPYKl9Ab3ZGy9TZ0_ZzaUWD8VCQSt4Vya7E41sk5iD2Lc3UMGfgbmYj4HvZ-xCwFwIyK6f17frzVwC6LlQYLWRR2wijbUJOPt2zGaZdTCOclLJ7IRNBBhItJXZGZt13SeM0UYLDRP2dPfTUFvuqOoxxj3_xlgG7CnwvB6qUFbvfFcHih0v6pb3H8RffD30fLnkXwOGdmgoYORtndf9OTstMHY0-9tT9np_t1k8Jqv1w3Jxs0pKCapPvJAmFykSKpWNPj5FpV2aKx0KQwLAFE5YH3JHwfsiuBQsAXivvJQmFWrKrg5_G-w8xqLFypfdthk1sN1vxaieCWVH7vLAlUT0fz5Upn4BC0xdig</recordid><startdate>2004</startdate><enddate>2004</enddate><creator>Poulakakis, I.</creator><creator>Smith, J.A.</creator><creator>Buchler, M.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope><scope>IQODW</scope></search><sort><creationdate>2004</creationdate><title>Experimentally validated bounding models for the Scout II quadrupedal robot</title><author>Poulakakis, I. ; Smith, J.A. ; Buchler, M.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i203t-c125b16aea339109c6a3486b34df5e1005f817cdb8edccfd8607e00cc3c225613</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2004</creationdate><topic>Applied sciences</topic><topic>Computer science; control theory; systems</topic><topic>Control theory. Systems</topic><topic>Exact sciences and technology</topic><topic>Hip</topic><topic>Intelligent robots</topic><topic>Intelligent structures</topic><topic>Leg</topic><topic>Legged locomotion</topic><topic>Machine intelligence</topic><topic>Mobile robots</topic><topic>Robot control</topic><topic>Robotics</topic><topic>Vehicle dynamics</topic><topic>Velocity control</topic><toplevel>online_resources</toplevel><creatorcontrib>Poulakakis, I.</creatorcontrib><creatorcontrib>Smith, J.A.</creatorcontrib><creatorcontrib>Buchler, M.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection><collection>Pascal-Francis</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Poulakakis, I.</au><au>Smith, J.A.</au><au>Buchler, M.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Experimentally validated bounding models for the Scout II quadrupedal robot</atitle><btitle>2004 IEEE International Conference on Robotics and Automation</btitle><stitle>ROBOT</stitle><date>2004</date><risdate>2004</risdate><volume>3</volume><spage>2595</spage><epage>2600 Vol.3</epage><pages>2595-2600 Vol.3</pages><issn>1050-4729</issn><eissn>2577-087X</eissn><isbn>9780780382329</isbn><isbn>0780382323</isbn><abstract>In this paper the authors discuss control and modeling issues significant for constructing simple running controllers and building experimentally validated simulation models for dynamically stable robots. A bounding controller resulting in dynamically stable running up to 1.3 m/s for the Scout II quadruped is presented. Simulation models are built and compared with experimental data to test the viability of various simplifying assumptions common in the literature for running robots. The authors demonstrate the need for including motor saturation and nor rigid torque transmission characteristics into simulation models. Similar issues are likely to be important in other legged robots as well. An extensive suite of experimental results documents the robot's performance and validates simulation models.</abstract><cop>Piscataway NJ</cop><pub>IEEE</pub><doi>10.1109/ROBOT.2004.1307452</doi><tpages>6</tpages></addata></record> |
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| identifier | ISSN: 1050-4729 |
| ispartof | 2004 IEEE International Conference on Robotics and Automation, 2004, Vol.3, p.2595-2600 Vol.3 |
| issn | 1050-4729 2577-087X |
| language | eng |
| recordid | cdi_ieee_primary_1307452 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Applied sciences Computer science control theory systems Control theory. Systems Exact sciences and technology Hip Intelligent robots Intelligent structures Leg Legged locomotion Machine intelligence Mobile robots Robot control Robotics Vehicle dynamics Velocity control |
| title | Experimentally validated bounding models for the Scout II quadrupedal robot |
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