2014 | OriginalPaper | Buchkapitel
Control and Omni-directional Locomotion of a Crawling Quadruped
verfasst von : Douwe Dresscher, Michiel van der Coelen, Jan Broenink, Stefano Stramigioli
Erschienen in: Simulation, Modeling, and Programming for Autonomous Robots
Verlag: Springer International Publishing
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Traversing unstructured environments, (statically stable) legged robots could be applied effectively but, they face two main problems: the
high complexity
of the system and the
low speed of locomotion
. To address the complexity of the controller, we apply a control layer that abstracts the legged robot to an omni-directional moving mass. In this control scheme, we apply the gait generator as proposed by Estremera and de Santos. We present theory to determine the theoretically maximum achievable velocity of a quadruped and compare the (omni-directional) maximum velocity of the selected gait generator with this optimum to validate its performance. For our use case the theoretically maximum achievable velocity is 1
ms
− 1
; in simulations we achieve a velocity for straight movement of maximum 0.75
ms
− 1
. Normal turns with a radius larger than 0.45
m
are possible at a velocity of at least 0.1
ms
− 1
; the performance of crab turns is too unpredictable to be useful. The gait generator as proposed by Estremera and de Santos is partially capable of supporting omni-directional movement at satisfactory velocities.