Modular Control of Limit Cycle Locomotion over Unperceived Rough Terrain

We present a general approach to design modular controllers for limit cycle locomotion over unperceived rough terrain. The control strategy uses a Central Pattern Generator (CPG) model implemented as coupled nonlinear oscillators as basis. Stumbling correction and leg extension reflexes are implemented as feedbacks for fast corrections, and model-based posture control mechanisms define feedbacks for continuous corrections. The control strategy is validated on a detailed physics-based simulated model of a compliant quadruped robot, the Oncilla robot. We demonstrate dynamic locomotion with a speed of more than 1.5 BodyLength/s over unperceived uneven terrains, steps, and slopes.


Presented at:
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-8, 2013
Year:
2013
Keywords:
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 Record created 2013-07-23, last modified 2018-03-17

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