Slip-adaptive walk of quadruped robot

✍ Scribed by Hiroshi Takemura; Masato Deguchi; Jun Ueda; Yoshio Matsumoto; Tsukasa Ogasawara

• Publisher: Elsevier Science
• Year: 2005
• Tongue: English
• Weight: 937 KB
• Volume: 53
• Category: Article
• ISSN: 0921-8890
• DOI: 10.1016/j.robot.2005.07.002

✦ Synopsis

In this paper, we investigated the effects of the friction condition on walking pattern and energy efficiency, and based on the results, we proposed two new "slip-adaptive" strategies for generating a slip-adaptive walk. The first strategy for a slip-adaptive walk uses a slip reflex via a Central Pattern Generator (CPG) to change the walking pattern. The second strategy for a walk uses a force control to immediately compensate a slip. Using these strategies, a walk, which is adaptive to varying friction conditions and slips, becomes possible. The validity of the proposed method is confirmed through simulation and experimentation.