A bio-inspired postural control for a quadruped robot: An attractor-based dynamics

Sousa, J. M. C.; Matos, Vitor; Santos, Cristina P.

doi:10.1109/iros.2010.5648945

Cited by 15 publications

(14 citation statements)

References 14 publications

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“…where n is the number of legs (2 in the simple case of the previous section, 6 in the full case) 9 . This very directly encodes the notion of fighting the mean (sum of all legs), and canceling the difference (between one leg and the normalized sum of the rest).…”

Section: Implementation On a Spatial Hexapodmentioning

confidence: 99%

“…These ideas were further developed by research on RiSE [7,8] whose reactive gait phase adjustments were designed to balance forces within and between the sides with the goal of evenly distributing ground reaction forces. Prior work on a quadruped standing posture has been based on simultaneously trying to achieve multiple goals [9].…”

Section: Introductionmentioning

confidence: 99%

“…Naturally the configuration of the robot at the critical point based on any non-singular parameterization will be the same as it is really a critical point of the true potential, η 8. The coupling of τ m,h will add a sign indefinite term to the top line, −λ κ m κ p γ 2 −γ 1 2 Dη o , but λ is exponentially driven to zero by (29) 9. Note that equivalently we can setω d,k = −κ d,k · τ k while makingω m = κ m ∑ j τ j by changing our gains appropriately.…”

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confidence: 99%

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Standing self-manipulation for a legged robot

Johnson

Haynes

Koditschek

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Follow this and additional works at: http://repository.upenn.edu/ese_papers Part of the Electrical and Computer Engineering Commons, and the Systems Engineering Commons BibTeX entry @inproceedings{paper:johnson-iros-2012, author = {Aaron M. Johnson and G Clark Haynes and D E Koditschek}, title = {Standing Self-Manipulation for a Legged Robot}, booktitle = {Proceedings of the IEEE/RSJ Intl. Conference on Intelligent Robots and Systems}, month = {October}, year = {2012}, address = {Algarve, Portugal}, pages = {272--279} } AbstractOn challenging, uneven terrain a legged robot's open loop posture will almost inevitably be inefficient, due to uncoordinated support of gravitational loads with coupled internal torques. By reasoning about certain structural properties governing the infinitesimal kinematics of the closed chains arising from a typical stance, we have developed a computationally trivial self-manipulation behavior that can minimize both internal and external torques absent any terrain information. The key to this behavior is a change of basis in torque space that approximates the partially decoupled nature of the two types of disturbances. The new coordinates reveal how to use actuator current measurements as proprioceptive sensors for the approximate gradients of both the internal and external task potential fields, without recourse to further modeling. The behavior is derived using a manipulation framework informed by the dual relationship between a legged robot and a multifingered hand. We implement the reactive posture controller resulting from simple online descent along these proprioceptively sensed gradients on the X-RHex robot to document the significant savings in standing power. For more information: Kod*Lab Disciplines Electrical and Computer Engineering | Engineering | Systems EngineeringComments BibTeX entry @inproceedings{paper:johnson-iros-2012, author = {Aaron M. Johnson and G Clark Haynes and D E Koditschek}, title = {Standing Self-Manipulation for a Legged Robot}, booktitle = {Proceedings of the IEEE/ RSJ Intl. Conference on Intelligent Robots and Systems}, month = {October}, year = {2012}, address = {Algarve, Portugal}, pages = {272--279} } Abstract-On challenging, uneven terrain a legged robot's open loop posture will almost inevitably be inefficient, due to uncoordinated support of gravitational loads with coupled internal torques. By reasoning about certain structural properties governing the infinitesimal kinematics of the closed chains arising from a typical stance, we have developed a computationally trivial self-manipulation behavior that can minimize both internal and external torques absent any terrain information. The key to this behavior is a change of basis in torque space that approximates the partially decoupled nature of the two types of disturbances. The new coordinates reveal how to use actuator current measurements as proprioceptive sensors for the approximate gradients of both the internal and external task potential fields, without recourse to further modeling. The beha...

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Section: Implementation On a Spatial Hexapodmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

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Standing self-manipulation for a legged robot

Johnson

Haynes

Koditschek

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…Bailey studied controlling insect locomotion [7] and Liu et al studied controlling an AIBO robot [8]. A network similar to Hopf oscillators was presented by Sousa et al to control the posture of an AIBO robot [9]. In addition, they presented extended work on omnidirectional control and gait transition with an AIBO robot [10][11][12].…”

Section: Introductionmentioning

confidence: 99%

A gait transition algorithm based on hybrid walking gait for a quadruped walking robot

Lee

Tran

Hyun

et al. 2015

Intel Serv Robotics

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This paper presents a quasi-dynamic gait, called Hybrid Walking Gait, and a new gait transition algorithm for a quadruped walking robot. The Hybrid Walking gait reduces the steps of a generic walking gait with primitive foot trajectory generation using some of parameters easily defined. It shows great improvements over existing ones in terms of higher mobility, less complexity to define the motion, and smooth body movements that affect to the stability of the robot. The Gait Transition pattern generated with the Hybrid Walking Gait guarantees stability as good as that of a traditional walking gait and high mobility such as the dynamic trot gait. We perform experiments with a quadruped robot called "Artificial Digitigrade for Natural Environments Version III", and validate the effectiveness of our proposed gait patterns over several types of terrains.

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“…Matos et al [8] propose a bio-inspired robotic controller able to generate locomotion and to easily switch between different types of gaits. Matos et al [13] present a CPG design, based on coupled oscillators, generating the required stepping movements of a limb for omnidirectional motion.…”

Section: Introductionmentioning

confidence: 99%

Impact of Discrete Corrections in a Modular Approach for Trajectory Generation in Quadruped Robots

Pinto¹,

Santos²,

Rocha³

et al. 2011

AIP Conference Proceedings

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Online generation of trajectories in robots is a very complex task that involves the combination of different types of movements, i.e., distinct motor primitives. The later are used to model complex behaviors in robots, such as locomotion in irregular terrain and obstacle avoidance. In this paper, we consider two motor primitives: rhythmic and discrete. We study the effect on the robots' gaits of superimposing the two motor primitives, considering two distinct types of coupling. Additionally, we simulate two scenarios, where the discrete primitive is inserted in all of the four limbs, or is inserted in ipsilateral pairs of limbs. Numerical results show that amplitude and frequency of the periodic solutions, corresponding to the gaits trot and pace, are almost constant for diffusive and synaptic couplings.

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A bio-inspired postural control for a quadruped robot: An attractor-based dynamics

Cited by 15 publications

References 14 publications

Standing self-manipulation for a legged robot

Standing self-manipulation for a legged robot

A gait transition algorithm based on hybrid walking gait for a quadruped walking robot

Impact of Discrete Corrections in a Modular Approach for Trajectory Generation in Quadruped Robots

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