Dynamics modeling and stable gait planning of a quadruped robot in walking over uneven terrains
Document Type : Research Paper
Authors
Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Lab, Dept of Mech Eng, K. N. Toosi Univ of Tech, Tehran, Iran.
Abstract
Quadruped robots have unique capabilities for motion over uneven natural environments. This article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. First, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-DOF quadruped robot. Thereafter, an inverse-dynamics control will be introduced using this model. Next, a dynamically stable condition under sufficient friction assumption for the motion of the robot on uneven terrains will be obtained. Satisfaction of this condition assures that the robot does not tip over all the support polygon edges. Based on this stability condition, a constrained optimization problem is defined to compute a stable and smooth center of gravity (COG) path. The main feature of the COG path is that the height of the robot can be adjusted to follow the terrain. Then, a path generation algorithm for tip of the swing legs will be developed. This smooth path is planned so that any collision with the environment is avoided. Finally, the effectiveness of the proposed method will be verified.
Keywords
- constraint elimination method
- dynamics modeling
- dynamic stability
- inverse-dynamics control
- quadruped robot
- uneven terrains
Main Subjects
IFAC World Congress, COEX, Korea, South.
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Volume 46, Issue 2 - Serial Number 2
July 2015Pages 205-220
- Receive Date: 11 July 2015
- Revise Date: 16 August 2015
- Accept Date: 16 August 2015