Abstract
Scout II, an autonomous four-legged robot with only one actuator per compliant leg is described. We demonstrate the need to model the actuators and the power source of the robot system carefully in order to obtain experimentally valid models for simulation and analysis. We describe a new, simple running controller that requires minimal task level feedback, yet achieves reliable and fast running up to 1.2 m/s. These results contribute to the increasing evidence that apparently complex dynamically dexterous tasks may be controlled via simple control laws. An energetics analysis reveals a highly efficient system with a specific resistance of 0.32 when based on mechanical power dissipation and of 1.0 when based on total electrical power dissipation.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
M. Buehler, R. Battaglia, A. Cocosco, G. Hawker, J. Sarkis, and K. Yamazaki. Scout: A simple quadruped that walks, climbs and runs. In IEEE Int. Conf. Robotics and Automation, pages 1707–1712, May 1998.
M. Buehler, A. Cocosco, K. Yamazaki, and R. Battaglia. Stable open loop walking in quadruped robots with stick legs. In IEEE Int. Conf. Robotics and Automation, pages 2348–2353, May 1999.
G. Hawker and M. Buehler. Quadruped trotting with passive knees. In IEEE Int. Conf. Robotics and Automation, pages 3046–3051, April 2000.
U. Saranli, M. Buehler, and D. E. Koditchek. Design, modelling and preliminary control of a compliant hexapod robot. In IEEE Int. Conf. Robotics and Automation, pages 2589–2596, April 2000.
M. H. Raibert. Legged Robots that Balance. MIT Press, Cambridge, MA, 1986.
J. Furusho, A. Sano, M. Sakaguchi, and E. Koizumi. Realization of bounce gait in a quadruped robot with articular-joint-type legs. In IEEE Int. Conf. Robotics and Automation, pages 697–702, May 1995.
S. Akiyama and H. Kimura. Dynamic quadruped walk using neural oscillators-realization of pace and trot. In 13. Annual Conf. RSJ, pages 227–228, 1995.
K. Matsuoka. Sustained oscillations generated by mutually inhibiting neurons with adaptation. Biol. Cybernetics, 52:367–376, 1985.
G. Taga, Y. Yamaguchi, and H. Shimizu. Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment. Biol. Cybernetics, 65:147–159, 1991.
Knowledge Revolution. Working Model 2D User’s Guide. CA, 1996.
S. Talebi. Compliant running and step climbing of the Scout II platform. Master’s thesis, McGill University, 2000.
G. Gabrielli and Th. von Kármán. What price speed? Mechanical Engineering, 72(10):775–781, 1950.
M. Ahmadi and M. Buehler. The ARL Monopod II running robot: Control and energetics. In IEEE Int. Conf. Robotics and Automation, pages 1689–1694, May 1999.
M. Ahmadi and M. Buehler. Stable control of a simulated one-legged running robot with hip and leg compliance. IEEE Trans. Robotics and Automation, pages 96–104, Feb 1997.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2001 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Talebi, S., Poulakakis, I., Papadopoulos, E., Buehler, M. (2001). Quadruped Robot Running With a Bounding Gait. In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_29
Download citation
DOI: https://doi.org/10.1007/3-540-45118-8_29
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-42104-7
Online ISBN: 978-3-540-45118-1
eBook Packages: Springer Book Archive