Running on four legs as though they were one

Raibert, Marc H.; Chepponis, Michael; Brown, H.B.

doi:10.1109/jra.1986.1087044

Cited by 232 publications

(104 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…This tactic imposes modularity on the network and stipulates that a single encoding will be used for multiple modules. Many permutations of this strategy of manually decomposing the problem have produced functioning gaits [3], [7], [12]- [15]. Another type of manual decomposition, which is often used in addition to the previous one, is to simplify the high-level problem of locomotion by breaking it into manually-defined subproblems (e.g., producing leg oscillations, not falling over, moving certain legs in synchrony, etc.…”

Section: Introductionmentioning

confidence: 99%

Evolving coordinated quadruped gaits with the HyperNEAT generative encoding

Clune

Beckmann

Ofria

et al. 2009

2009 IEEE Congress on Evolutionary Computation

145

187

View full text Add to dashboard Cite

Abstract-Legged robots show promise for complex mobility tasks, such as navigating rough terrain, but the design of their control software is both challenging and laborious. Traditional evolutionary algorithms can produce these controllers, but require manual decomposition or other problem simplification because conventionally-used direct encodings have trouble taking advantage of a problem's regularities and symmetries. Such active intervention is time consuming, limits the range of potential solutions, and requires the user to possess a deep understanding of the problem's structure. This paper demonstrates that HyperNEAT, a new and promising generative encoding for evolving neural networks, can evolve quadruped gaits without an engineer manually decomposing the problem. Analyses suggest that HyperNEAT is successful because it employs a generative encoding that can more easily reuse phenotypic modules. It is also one of the first neuroevolutionary algorithms that exploits a problem's geometric symmetries, which may aid its performance. We compare HyperNEAT to FT-NEAT, a direct encoding control, and find that HyperNEAT is able to evolve impressive quadruped gaits and vastly outperforms FT-NEAT. Comparative analyses reveal that HyperNEAT individuals are more holistically affected by genetic operators, resulting in better leg coordination. Overall, the results suggest that HyperNEAT is a powerful algorithm for evolving control systems for complex, yet regular, devices, such as robots.

show abstract

Section: Introductionmentioning

confidence: 99%

Evolving coordinated quadruped gaits with the HyperNEAT generative encoding

Clune

Beckmann

Ofria

et al. 2009

2009 IEEE Congress on Evolutionary Computation

145

187

View full text Add to dashboard Cite

show abstract

“…Other sensors check the internal state of qRT-2, monitoring the hydraulic pressure, the oil temperature, the engine temperature, the rpm, the battery charger and the others. 17th IFAC World Congress (IFAC'08) Seoul, Korea, July [6][7][8][9][10][11]2008 5. CONCLUSION This paper was proposed a frequency modulated pattern generator that is easy to change foot trajectories by change of some parameters for real-time system and an online control method for a legged robot to carry heavy-loads and to move fast on the uneven terrain.…”

Section: Methodsmentioning

confidence: 99%

“…Figures 1 and 2 show coordinates and parameters of the quadruped robot, qRT-1. First, legs of the simplified quadruped model are tied 11], as shown el which is co in Fig. 3(b).…”

Section: Kinematic Model For the Trajectory Generationmentioning

confidence: 99%

Foot Trajectory Generation of Hydraulic Quadruped Robots on Uneven Terrain

Kim

Won

Kwon

et al. 2008

IFAC Proceedings Volumes

View full text Add to dashboard Cite

This paper proposes trot pattern generation and online control methods for a legged robot to carry heavy-loads and move fast on the uneven terrain. The trot pattern is generated from the frequency modulated pattern generation method based on the frequency modulated oscillator in order for the legged robots to operate outdoors with the static and dynamic mobility. The efficiency and performance of the proposed are verified through the computer simulation and experiments using qRT-1/-2. In experiments, qRT which is a 2-legged and 2-wheeled robot and a front drive system vehicle with hydraulic linear actuators is used. The robot has trotted gaits at speeds up to 1.3 m/s on the even surface, walked up and down the 20 degree inclines, and walked at 0.7 m/s on the uneven surface. Also it has carried over 100 kg of the total weights including over 40 kg of the payload.

show abstract

“…Therefore, for a trotting quadruped robot, a PRM could only be established via simulation or experimental regulation, unless it is based on the reference models [11][12][13][14]. Many researchers simplify a trotting quadruped robot as a SLIP model [15][16][17][18]. However, the statically stable components of the body position along the stance line are neglected.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Stability Analysis of a Trotting Quadruped Robot Based on Switching Control

Lin

Wang

Rao

et al. 2015

Int. j. adv. robot. syst.

View full text Add to dashboard Cite

This paper presents a dynamic stability analysis method for a trotting quadruped robot on unknown rough terrains, which is based on the Lyapunov theory of a switching system. Firstly, the dynamical model of a trotting quadruped robot is built as a nonlinear switching system. In the stance phase, the dynamical model of a body and two stance legs is approximated as a compound model including a seven-link mechanism and a linear inverted pendulum. Furthermore, as a result of the switching process, the trotting quadruped robot becomes a non-autonomous system. Secondly, a contact force distribution/control strategy is proposed, based on adaptive sliding mode to guarantee the position and orientation of the seven-link mechanism asymptotically stable in the stance phase. With the proposed strategy, a common Lyapunov function is designed in order to validate the uniform asymptotic stability of the body's height and orientation variations. Then, the landing positions of the swing legs are calculated, based on the linear inverted pendulum model in order to make the horizontal position error of the robot converge to a bounded region. Finally, quadruped trotting experiments are performed in order to validate the effectiveness of the proposed methods.

show abstract

Running on four legs as though they were one

Cited by 232 publications

References 17 publications

Evolving coordinated quadruped gaits with the HyperNEAT generative encoding

Evolving coordinated quadruped gaits with the HyperNEAT generative encoding

Foot Trajectory Generation of Hydraulic Quadruped Robots on Uneven Terrain

Dynamic Stability Analysis of a Trotting Quadruped Robot Based on Switching Control

Contact Info

Product

Resources

About