Design of a Large-scale Electrically-actuated Quadruped Robot and Locomotion Control for the Narrow Passage

2021 ◽  
Author(s):  
Shusheng Ye ◽  
Jianwen Luo ◽  
Caiming Sun ◽  
Bingchen Jin ◽  
Juntong Su ◽  
...  
Keyword(s):  
Large Scale ◽  
Quadruped Robot ◽  
Locomotion Control ◽  
Electrically Actuated ◽  
Narrow Passage

A NOVEL CPG WITH PROPRIOCEPTION AND ITS APPLICATION ON THE LOCOMOTION CONTROL OF QUADRUPED ROBOT

2009 ◽  
Vol 06 (01) ◽  
pp. 33-46 ◽  
Author(s):  
LEI SUN ◽  
MAX Q.-H. MENG ◽  
SHUAI LI ◽  
HUAWEI LIANG ◽  
TAO MEI
Keyword(s):  
Central Pattern Generator ◽  
Sensory Information ◽  
Pattern Generator ◽  
Quadruped Robot ◽  
Locomotion Control ◽  
Working Status ◽  
Self Protection ◽  
Dynamic Connectivity

This paper proposes a novel central pattern generator (CPG) model with proprioceptive mechanism and the dynamic connectivity mechanism. It not only contains the sensory information of the environment but also contains the information of the actuators and automatically tunes the parameters of CPG corresponding to the actuators information and inner sensory information. The position of the joints linked directly with the output of CPG is introduced to the CPG to find its proprioceptive system, spontaneously making the robot realize the actuator working status, further changing the CPG output to fit the change and decrease the influence of the problematic joints or actuators on the robot being controlled. So the damage would be avoided and self-protection is implemented. Its application on the locomotion control of a quadruped robot demonstrates the effectiveness of the proposed approach.

1A1-D16 Vision-guided locomotion control of a quadruped robot using oscillator network

2006 ◽  
Vol 2006 (0) ◽  
pp. _1A1-D16_1-_1A1-D16_2
Author(s):  
Takahide KIMURA ◽  
Naohiro NOBUMOTO ◽  
Katsuyoshi TSUJITA ◽  
Tatsuya MASUDA
Keyword(s):  
Quadruped Robot ◽  
Locomotion Control ◽  
Oscillator Network

2A1-B12 Vision-guided locomotion control of a quadruped robot using oscillator network

2007 ◽  
Vol 2007 (0) ◽  
pp. _2A1-B12_1-_2A1-B12_4
Author(s):  
Takuma ARAGI ◽  
Takahide KIMURA ◽  
Katsuyosi TSUJITA ◽  
Tatsuya MASUDA
Keyword(s):  
Quadruped Robot ◽  
Locomotion Control ◽  
Oscillator Network

An Energy Efficient Motion Controller Based on SLCP for the Electrically Actuated Quadruped Robot

2020 ◽  
Vol 17 (2) ◽  
pp. 290-302 ◽  
Author(s):  
Tianfa Li ◽  
Lelai Zhou ◽  
Yibin Li ◽  
Hui Chai ◽  
Kun Yang
Keyword(s):  
Energy Efficient ◽  
Quadruped Robot ◽  
Motion Controller ◽  
Electrically Actuated

Design of HyQ – a hydraulically and electrically actuated quadruped robot

2011 ◽  
Vol 225 (6) ◽  
pp. 831-849 ◽  
Author(s):  
C Semini ◽  
N G Tsagarakis ◽  
E Guglielmino ◽  
M Focchi ◽  
F Cannella ◽  
...  
Keyword(s):  
Quadruped Robot ◽  
Electrically Actuated
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