2024-03-29T15:12:50Zhttp://digital.csic.es/dspace-oai/requestoai:digital.csic.es:10261/78692021-06-11T13:05:42Zcom_10261_96com_10261_4col_10261_349
On the Improvement of Walking Performance in Natural Environments by a Compliant Adaptive Gait
García Armada, Elena
González de Santos, Pablo
Compliance control
Gait adaptation
Legged locomotion
Stability criteria
It is a widespread idea that animal-legged locomotion
is better than wheeled locomotion on natural rough terrain.
However, the use of legs as a locomotion system for vehicles and
robots still has a long way to go before it can compete with wheels
and trucks, even on natural ground. This paper aims to solve
two main disadvantages plaguing walking robots: their inability
to react to external disturbances (which is also a drawback of
wheeled robots); and their extreme slowness. Both problems
are reduced here by combining: 1) a gait-parameter-adaptation
method that maximizes a dynamic energy stability margin and 2)
an active-compliance controller with a new term that compensates
for stability variations, thus helping the robot react stably in the
face of disturbances. As a result, the combined gait-adaptation
approach helps the robot achieve faster, more stable compliant
motions than conventional controllers. Experiments performed
with the SILO4 quadruped robot show a relevant improvement in
the walking gait.
2008-10-17T11:07:51Z
2008-10-17T11:07:51Z
2006-12
artículo
IEEE Transactions on Robotics, 22(6):1240-1253 (2006)
1552-3098
http://hdl.handle.net/10261/7869
10.1109/TRO.2006.884343
eng
http://dx.doi.org/10.1109/TRO.2006.884343
S2009/DPI-1559/ROBOCITY2030-II
openAccess
Institute of Electrical and Electronics Engineers