|Motion Control of a Quadruped Robot in Unknown Rough Terrain using 3D Spring Damper Leg Model
Duc Trong Tran, Ig Mo Koo, Yoon Haeng Lee, Hyungpil Moon, Jachoon Koo, Sangdeok Park, and Hyouk Ryeol Choi*
International Journal of Control, Automation, and Systems, vol. 12, no. 2, pp.372-382, 2014
Abstract : This paper presents a simple method to control the motion of a quadruped robot in unknown rough terrain using a full dynamic model. First, using the stiffness control method, the behavior of the four legs is approximated using four 3D spring damper systems. In this way, the dynamic model can be derived in Cartesian space. Based on this model, a control strategy is proposed to preserve the asymp-totical stability of the system. In addition, a reflex motion control is introduced to cope with the rota-tional disturbance of the robot body. Finally, dynamic simulations and experiments of a quadruped walking robot were performed on unknown rough terrain to verify the proposed method.
Keyword : 3D spring damper system, dynamic legged locomotion, quadruped locomotion.