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Journal of Vibration and Control, Vol. 12, No. 12, 1361-1383 (2006)
DOI: 10.1177/1077546306070596

Adaptive Running of a Quadruped Robot Using Forced Vibration and Synchronization

Zu Guang Zhang

Department of Precision Engineering, Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, hero{at}intellect.pe.u-tokyo.ac.jp

Hiroshi Kimura

Department of Information Management Science, Graduate School of Information Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu City, Tokyo 182-8585, Japan

Kunikatsu Takase

Department of Information Management Science, Graduate School of Information Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu City, Tokyo 182-8585, Japan

In this paper we regard legged locomotion (e.g., running) as adaptive vibration, which is capable of adapting to changes in internal parameters and in the external environment. We propose control concepts for such adaptive running in general, and present a theoretical study of the bounding locomotion of a quadruped robot according to the proposed control concepts. In our control method, a forced vibratory system with a synchronization function is constructed by using a rhythm generator and a torque generator. The states of both generators are modified by delayed feedback control (DFC) using a stance phase period measured by contact sensors. Such sensory feedback to both generators makes the system adaptive to changes in the physical parameters and also adaptive to changes in terrain. The effectiveness of the proposed method was confirmed by simulations using a quadruped robot with an active hip joint and a passive knee joint in each leg. MPEG footage of these simulations can be seen at: http://www.kimura.is.uec.ac.jp/running.

Key Words: Quadruped robot running • forced vibration • synchronization • delayed feedback control


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