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http://dx.doi.org/10.6109/jkiice.2012.16.6.1235

Estimation of Attitude Control for Quadruped Walking Robot Using Load Cell  

Eom, Han-Sung (바르질라코리아(주))
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.16, no.6, 2012 , pp. 1235-1241 More about this Journal
Abstract
In this paper, each driving motor for leg joints on a robot is controlled by estimating the direction of the legs measuring each joint angle and attitude angle of robot. We used quadruped working robot named TITAN-VIII in order to carry out this experimental study. 4 load cells are installed under the bottom of 4 legs to measure the pressed force on each leg while it's walking. The walking experiments of the robot were performed in 8 different conditions combined with duty factor, the length of a stride, the trajectory height of the foot and walking period of robot. The validity of attitude control for quadruped walking robot is evaluated by comparing the pressed force on a leg and the power consumption of joint driving motor. As a result, it was confirmed that the slip-condition of which the foot leave the ground late at the beginning of new period of the robot during walking process, which means the attitude control of the robot during walking process wasn't perfect only by measuring joint and attitude angle for estimating the direction of the foot.
Keywords
Quadruped working robot; TITAN-VIII; Joint angle; Attitude angle; Load cell;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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