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.


Editor(s):
Amato, N.
Published in:
2013 IEEE/RSJ International Conference On Intelligent Robots And Systems (Iros), 3390-3397
Presented at:
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year:
2013
Publisher:
New York, Ieee
ISBN:
978-1-4673-6358-7
Laboratories:




 Record created 2014-06-02, last modified 2018-03-17


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