Details

Autor(en) / Beteiligte

• Jongwoo Lee
• Dong Jin Hyun
• Jooeun Ahn
• Sangbae Kim
• Hogan, Neville

Titel

On the dynamics of a quadruped robot model with impedance control: Self-stabilizing high speed trot-running and period-doubling bifurcations

Ist Teil von

• 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, p.4907-4913

Ort / Verlag

IEEE

Erscheinungsjahr

2014

Quelle

IEEE Electronic Library Online

Beschreibungen/Notizen

• The MIT Cheetah demonstrated a stable 6 m/s trot gait in the sagittal plane utilizing the self-stable characteristics of locomotion. This paper presents a numerical analysis of the behavior of a quadruped robot model with the proposed controller. We first demonstrate the existence of periodic trot gaits at various speeds and examine local orbital stability of each trajectory using Poincar`e map analysis. Beyond the local stability, we additionally demonstrate the stability of the model against large initial perturbations. Stability of trot gaits at a wide range of speed enables gradual acceleration demonstrated in this paper and a real machine. This simulation study also suggests the upper limit of the command speed that ensures stable steady-state running. As we increase the command speed, we observe series of period-doubling bifurcations, which suggests presence of chaotic dynamics beyond a certain level of command speed. Extension of this simulation analysis will provide useful guidelines for searching control parameters to further improve the system performance.