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 asymptotical stability of the system. In addition, a reflex motion control is introduced to cope with the rotational 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.
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Recommended by Associate Editor Pinhas Ben-Tzvi under the direction of Editor Myotaeg Lim.
This work was supported by the Ministry of Knowledge Economy under the Human Resources Development Program for Convergence Robot Specialists (NIPA-2012-H1502-13-1001).
Due Trong Tran received his B.S. degree in Mechatronics from Ho Chi Minh City University of Technology in Vietnam in 2005. He also obtained his M.S. and Ph.D. degrees in Mechanical Engineering from the Sungkyunkwan University in Korea in 2008 and 2013, respectively. His research interests include biological inspired control and adaptive control of quadruped walking robot.
Ig Mo Koo received his B.S. degree in Mechanical Engineering from Myongji University, Yongin, Korea. He also obtained his M.S. and Ph.D. degrees in Mechanical Engineering from the Sungkyunkwan University, Suwon, Korea. His research interests include artificial muscle actuator, haptics, tactile display, walking and climbing robots, biomimetics.
Yoon Haeng Lee received his B.S. degree in Mechanical Engineering from Won-kwang University, Iksan, Korea, in 2012, and his M.S degree in Mechanical Engineering from the Sungkyunkwan University, Suwon, Korea, in 2014, where he is currently working toward a Ph.D. degree in Mechanical Engineering from Sungkyunkwan University, Intelligent Robotics and Mechatronics System Laboratory. His research interests include quadruped walking robot system.
Hyungpil Moon received his B.S. and M.S. degrees in Mechanical Engineering from Pohang University of Science and Technology (POSTECH), Pohang, Korea, in 1996 and 1998, respectively, and his Ph.D. degree in mechanical engineering from the University of Michigan, Ann Arbor, in 2005. He was a postdoctoral fellow at Robotics Institute, Carnegie Mellon University, Pittsburgh, PA. He is currently an assistant professor in the school of mechanical engineering, Sungkyunkwan University, Suwon, Korea. He is also an Associate Editor of Journal of Mechanical Science and Technology (JMST). His research interests include distributed manipulation, localization and navigation of multi-agent systems, and biomimetic robotics.
Jachoon Koo received his B.S. degree from Hanyang University, Seoul, in 1989, and his M.S. and Ph.D. degrees from the University of Texas at Austin, in 1997 and 1992, respectively. He is currently a Professor in the School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea. He was an Advisory Engineer at IBM, San Jose, CA, and a Staff Engineer at Samsung Information Systems America, San Jose. His current research interests include modeling of dynamics systems, sensors, and actuators.
Sangdeok Park is currently with the Division of Applied Robot Technology, Korea Institute of Industrial Technology, Ansan, Korea.
Hyouk Ryeol Choi received his B.S. degree from Seoul National University, Seoul, Korea, in 1984, an M.S. degree from the Korea Advanced Technology of Science and Technology (KAIST), Tae-jon, Korea, in 1986, and a Ph.D. degree from the Pohang University of Science and Technology (POSTECH), Pohang, Korea, in 1994. Since 1995, he has been with Sungkyunkwan University, Suwon, Korea, where he is currently a Professor in the School of Mechanical Engineering. He was an Associate Engineer with LG Electronics Central Research Laboratory, Seoul, Korea, from 1986 to 1989. From 1993 to 1995, he was with Kyoto University, Kyoto, Japan, as a grantee of scholarship funds from the Japanese Educational ministry. He visited the Advanced Institute of Industrial Science Technology (AIST), Tsukuba, Japan, as a JSPS Fellow from 1999 to 2000. He was a visiting scholar in Biorobotics Laboratory in the University of Washington from 2008 to 2009. He served as an Associate Editor in IEEE Transactions on Robotics. He is now an Editor of International Journal of Control, Automation and Systems (IJCAS), and Associate Editor of Journal of Intelligent Service Robotics and General Chair of IEEE CASE. His interests include dexterous mechanisms, field application of robots, and artificial muscle actuators.
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Tran, D.T., Koo, I.M., Lee, Y.H. et al. Motion control of a quadruped robot in unknown rough terrain using 3D spring damper leg model. Int. J. Control Autom. Syst. 12, 372–382 (2014). https://doi.org/10.1007/s12555-013-0053-5
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DOI: https://doi.org/10.1007/s12555-013-0053-5