This Article Abstract Free Full Text (Free PDF) Free Alert me when this article is cited Alert me if a correction is posted Citation Map Services Email this article to a friend Similar articles in this journal Similar articles in ISI Web of Science Alert me to new issues of the journal Add to Saved Citations Download to citation manager Add to My Marked Citations Citing Articles Citing Articles via Google Scholar Google Scholar Articles by Zhang, Z. G. Articles by Takase, K. Search for Related Content Social Bookmarking                   What's this?

Adaptive Running of a Quadruped Robot Using Forced Vibration and Synchronization

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

References

• Ahmadi, M. and Buehler, M., 1991, "Stable control of a simulated one-legged running robot with hip and leg compliance," IEEE Transaction on Robotics and Automation 13(1), 96-104 .
• Berkemeier, M. D., 1998, "Modeling the dynamics of quadruped running," International Journal of Robotics Research 17(9), 971-985 .[Abstract/Free Full Text]
• Blickhan, R., 1989, "The spring-mass model for running and hopping," Journal of Biomechanics 22, 1217-1227 .[CrossRef][ISI][Medline] [Order article via Infotrieve]
• Cham, J. G., Karpick, J. K., and Cutkosky, M. R., 2004, "Stride period adaptation of a biomimetic running hexapod," International Journal of Robotics Research 23(2), 141-153 .[Abstract]
• Fukuoka, Y., Kimura, H., and Cohen, A. H., 2003, "Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts," International Journal of Robotics Research 22(3-4), 187-202 .[Abstract]
• Full, R. J. and Koditschek, D. E., 1999, "Templates and anchors: Neuromechanical hypotheses of legged locomotion on land," Journal of Experimental Biology 202, 3325-3332 .[Abstract]
• Furusho, J., Sano, A., Sakaguchi, M., and Koizumi, E., 1995, "Realization of bounce gait in a quadruped robot with articular-joint-type legs," in Proceedings of the 1995 IEEE International Conference on Robotics and Automation, pp. 697-702 .
• Herr, H. M. and McMahon, T. A., 2000, "A trotting horse model," International Journal of Robotics Research 19(6), 566-581 .[Abstract]
• Hyon, S. H. and Emura, T., 2004, "Energy-preserving control of a passive one-legged running robot," Advanced Robotics 18(4), 357-381 .[Medline] [Order article via Infotrieve]
• Hyon, S. H. and Mita, T., 2002, "Development of a biologically inspired hopping robot ‘Kenken’," in Proceedings of the 2002 IEEE International Conference on Robotics and Automation, pp. 3984-3991 .
• Kimura, H., Akiyama, S., and Sakurama, K., 1999, "Realization of dynamic walking and running of the quadruped using neural oscillator," Autonomous Robots 7(3), 247-258 .
• Koditschek, D. E. and Buehler, M., 1991, "Analysis of a simplified hopping robot," International Journal of Robotics Research 10(6), 587-605 .[Abstract/Free Full Text]
• Krasny, D. P. and Orin, D. E., 2004, "Generating high-speed dynamic running gaits in a quadruped robot using an evolutionary search," IEEE Transactions on Systems, Man, and Cybernetics B34(4), 1685-1696 .[CrossRef]
• Ono, K. and Okada, T., 1994, "Self-excited vibratory actuator (1st report: Analysis of two-degree-of-freedom self-excited systems)," Transactions of the JSME(C) 60(577), 2984-2991 .
• Osuka, K., Sugimoto, Y., and Sugie, T., 2004, "Stabilization of semi-passive dynamic walking based on delayed feedback control," (in Japanese) Journal of the Robotics Society of Japan 22(2), 193-199 .
• Palmer, L. R., Orin, D. E., Marhefka, D. W., Schmiedeler, J. P., and Waldron, K. J.,2003, "Intelligentcontrolof an experimental articulated leg for a galloping machine," in Proceedings of the 2003 IEEE International Conference on Robotics and Automation, pp. 3821-3827 .
• Poulakakis, I., Papakopoulos, E., and Buehler, M., 2003, "On the stable passive dynamics of quadrupedal running," in Proceedings of the 2003 IEEE International Conference on Robotics and Automation, pp. 1368-1373 .
• Poulakakis, I., Smith, J. A., and Buehler, M., 2005a, "Modeling and experiments of untethered quadrupedal running with a bounding gait: The Scout II robot," International Journal of Robotics Research 24(4), 239-256 .[Abstract]
• Poulakakis, I., Smith, J. A., and Buehler, M., 2005b, "On the dynamics of bounding and extensions towards the half-bound and the gallop gaits," in Adaptive Motion of Animals and Machines, H. Kimura, K. Tsuchiya, A. Ishiguro, and H Witt, eds., Springer-Verlag, Tokyo , pp. 77-86.
• Raibert, M. H., 1985, "Legged Robots that Balance," MIT Press, Cambridge, MA .
• Saranli, U., Buehler, M., and Koditschek, D. E., 2001, "RHex: A simple and highly mobile hexapod robot," International Journal of Robotics Research 20(7), 616-631 .[Abstract]
• Serfarth, A., Geyer, H., Gunther, M., and Blickhan, R., 2002, "A movement criterion for running," Journal Biomechan 35, 649-655 .
• Taga, G., Yamaguchi, Y., and Shimizu, H., 1991, "Self-organized control of biped locomotion by neural oscillators," Biological Cybernetics 65, 147-159 .[CrossRef][ISI][Medline] [Order article via Infotrieve]
• Vakakis, A. F., Burkick, J. W., and Caughey, T. K., 1991, "An interesting strange attractor in the dynamics of a hopping robot," International Journal of Robotics Research 10(6), 606-618 .[Abstract/Free Full Text]
• Zhang, Z. G., Fukuoka, Y., and Kimura, H., 2003, "Adaptive running of a quadrupedal robot on irregular terrain based on biological concepts," in Proceedings of the 2003 IEEE International Conference on Robotics and Automation, pp. 2043-2048 .
• Zhang, Z. G., Fukuoka, Y., and Kimura, H., 2005, "Adaptive running of a quadruped robot using delayed feedback control," in Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp. 3750-3755 .

CiteULike

Connotea

Del.icio.us

Digg

Reddit

Technorati

This Article Abstract Free Full Text (Free PDF) Free Alert me when this article is cited Alert me if a correction is posted Citation Map Services Email this article to a friend Similar articles in this journal Similar articles in ISI Web of Science Alert me to new issues of the journal Add to Saved Citations Download to citation manager Add to My Marked Citations Citing Articles Citing Articles via Google Scholar Google Scholar Articles by Zhang, Z. G. Articles by Takase, K. Search for Related Content Social Bookmarking                   What's this?