A study on control for rhythm motion of quadruped robot's operating in walk gait and trot gait
| Type of publication: | Proceedings |
| Citation: | 322-327 |
| Booktitle: | Hội nghị Khoa Học và Công Nghệ lần thứ 11 |
| Series: | 11 |
| Year: | 2009 |
| Month: | October |
| Publisher: | Nhà xuất bản Đại Học Quốc Gia |
| Organization: | Trường Đại Học Bách Khoa - Đại Học Quốc Gia thành phố Hồ Chí Minh |
| Address: | 268 Lý Thường Kiệt, Quận 10, Tp Hồ Chí Minh |
| Abstract: | This paper proposes a control method for a quadruped robot moving rhythmically in walk gait and trot gait on the flat floor. The mechanical system uses the model of Duy’s quadruped robot designed based on biological concepts. In this system, each leg of the robot consists of two links with a hip pitch joint and a knee pitch joint. Modelings for support phase and swing phase in which the knee joint angle is a function of the hip joint angle are presented. A controller that consists of a central pattern generator using Matsuoka’s neural oscillator model and two PID controllers is proposed. The central pattern generator is used for a timing oscillator to generate a gait pattern and the two PID controllers are for tracking the desired angular velocity of hip joint and the reference knee joint angle given by kinematics model. The central pattern generator has the capability to generate and modulate a rhythmic motion for the quadruped robot in the walk gait and trot gait. The phase differences between the legs and the height from the floor to the hip joints are maintained to be constant regardless to disturbance. A control system is developed based on microcontroller, PIC 18F4431. Numerical simulation and experimental results are shown to prove the effectiveness of the proposed controller. |
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| Total mark: | 0 |
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