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

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 analyt...

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Veröffentlicht in:	Autonomous robots 2015-04, Vol.38 (4), p.415-437
Hauptverfasser:	Ugurlu, Barkan, Havoutis, Ioannis, Semini, Claudio, Kayamori, Kana, Caldwell, Darwin G., Narikiyo, Tatsuo
Format:	Artikel
Sprache:	eng
Schlagworte:	Angular momentum Artificial Intelligence Balancing Computer Imaging Control Control systems Detection Displacement Electrical impedance Empirical analysis Engineering Error analysis Experiments Feasibility studies Feedback control Generators Locomotion Mechatronics Orientation Pattern analysis Pattern generation Pattern Recognition and Graphics Robotics Robotics and Automation Robots Sensory feedback Torso Vision Walking
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