Proceedings of the KSME Conference (대한기계학회:학술대회논문집)
- 2008.11a
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- Pages.888-893
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- 2008
Galloping Algorithm of Quadruped Robots on Irregular Surface
비평탄면에서의 4 족 로봇의 갤로핑 알고리즘
- Published : 2008.11.05
Abstract
In This paper proposes the control algorithm for quadruped robots on irregularly sloped uneven surface. Body balance is important in stable running locomotion. Since the body balance is determined by the forces applied at the feet during touchdown phase, the ground reaction force is controlled for stable running. To control the forces at each foot, the desired force is generated. The generated desired force is compared with actual contact force, then, the difference between them modifies the foot trajectory. The desired force is generated by combination of the rate change of the angular and linear momentum at flight. Then the rate change of momentum determines each force distribution. The distribution of the force is carried out by fuzzy logic. The computer simulation is carried out with the commercial software RecurDyn