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Intelligent Control of High-Speed Turning in a Quadruped

Authors
  • Palmer, Luther R. III1
  • Orin, David E.2
  • 1 Case Western Reserve University, Cleveland, OH, USA , Cleveland (United States)
  • 2 The Ohio State University, Columbus, OH, USA , Columbus (United States)
Type
Published Article
Journal
Journal of Intelligent & Robotic Systems
Publisher
Springer-Verlag
Publication Date
Jun 04, 2009
Volume
58
Issue
1
Pages
47–68
Identifiers
DOI: 10.1007/s10846-009-9345-7
Source
Springer Nature
Keywords
License
Yellow

Abstract

Understanding and implementing the control mechanisms that animals use to robustly negotiate a variety of terrains at high speed remains an unsolved problem. Previous research has resulted in control of quadruped running over a range of low speeds or narrowly around a single high speed. Control over a range of both low and high speeds is difficult because a quadruped system is significantly more responsive at high speeds than at low speeds, and because the proportional-derivative style controllers used by many of the previous researchers are only effective locally around the single speed and turning rate at which the controller was tuned. This work presents a fuzzy control strategy that manages the complex coupling between the multiple system inputs and outputs to successfully execute high-speed turns over a range of speeds and turning rates. The resulting control system stabilizes a 3D quadruped trot up to 4 m/s and turning up to 30 deg/s, on a quadruped system with articulated legs and practical leg mass properties in a simulation environment with realistic friction coefficients and system losses.

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