Biologically Inspired Control of Quadruped Walking Robot
- Title
- Biologically Inspired Control of Quadruped Walking Robot
- Authors
- Koo, IM; Kang, TH; Vo, GL; Trong, TD; Song, YK; Choi, HR; null
- Date Issued
- 2009-08
- Publisher
- "INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENG
- Abstract
- In this paper, we present a control method for a quadruped walking robot inspired from the locomotion of quadrupeds. A simple and useful framework for controlling a quadruped walking robot is presented, which is obtained by observing the stimulus-reaction mechanism, the gravity load receptor and the manner of generating repetitive motions from quadrupeds. In addition, we propose a new rhythmic pattern generator that can relieve the large computational burden on solving the kinematics. The proposed method is tested via a dynamic simulation and validated by implementation in a quadruped walking robot, called AiDIN-I (Artificial Digitigrade for Natural Environment I).
- Keywords
- Biomimetic; gravity load controller; quadruped walking robot; DESIGN; MECHANISMS; GAIT
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/28308
- DOI
- 10.1007/S12555-009-0409-Z
- ISSN
- 1598-6446
- Article Type
- Article
- Files in This Item:
- There are no files associated with this item.
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