Velocity Control of a Bounding Quadruped via Energy Control and Vestibular Reflexes

doi:10.1016/S1672-6529(14)60067-6

J4 ›› 2014, Vol. 11 ›› Issue (4): 556-571.doi: 10.1016/S1672-6529(14)60067-6

Velocity Control of a Bounding Quadruped via Energy Control and Vestibular Reflexes

Xin Wang1,2, Mantian Li1, Wei Guo1, Pengfei Wang1, Lining Sun1

1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, P. R. China
2. Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova 16163, Italy

出版日期:2014-09-30
通讯作者: Xin Wang E-mail:xin.wang@iit.it

Velocity Control of a Bounding Quadruped via Energy Control and Vestibular Reflexes

Xin Wang1,2, Mantian Li1, Wei Guo1, Pengfei Wang1, Lining Sun1

1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, P. R. China
2. Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova 16163, Italy

Online:2014-09-30
Contact: Xin Wang E-mail:xin.wang@iit.it

摘要/Abstract

摘要：

In this paper a bio-inspired approach of velocity control for a quadruped robot running with a bounding gait on compliant legs is set up. The dynamic properties of a sagittal plane model of the robot are investigated. By analyzing the stable fixed points based on Poincare map, we find that the energy change of the system is the main source for forward velocity adjustment. Based on the analysis of the dynamics model of the robot, a new simple linear running controller is proposed using the energy control idea, which requires minimal task level feedback and only controls both the leg torque and ending impact angle. On the other hand, the functions of mammalian vestibular reflexes are discussed, and a reflex map between forward velocity and the pitch movement is built through statistical regression analysis. Finally, a velocity controller based on energy control and vestibular reflexes is built, which has the same structure as the mammalian nervous mechanism for body posture control. The new con-troller allows the robot to run autonomously without any other auxiliary equipment and exhibits good speed adjustment capa-bility. A series simulations and experiments were set to show the good movement agility, and the feasibility and validity of the robot system.

关键词: legged robots, biologically-inspired robots, biomimetics, energy control, vestibular reflexes

Abstract:

Key words: legged robots, biologically-inspired robots, biomimetics, energy control, vestibular reflexes

Xin Wang1,2, Mantian Li1, Wei Guo1, Pengfei Wang1, Lining Sun1. Velocity Control of a Bounding Quadruped via Energy Control and Vestibular Reflexes[J]. J4, 2014, 11(4): 556-571.

[1]	Sheng Zhang, Masayuki Ochiai, Yuta Sunami, Hiromu Hashimoto. Influence of Microstructures on Aerodynamic Characteristics for Dragonfly Wing in Gliding Flight[J]. Journal of Bionic Engineering, 2019, 16(3): 423-431.
[2]	Wilfried Konrad, Jörg Adam, Siegfried Konietzko, Christoph Neinhuis. When Lotus Leaves Prevent Metal from Melting – Biomimetic Surfaces for High Temperature Applications[J]. Journal of Bionic Engineering, 2019, 16(2): 281-290.
[3]	Matej Hoffmann1,2, Jakub Simanek3. The Merits of Passive Compliant Joints in Legged Locomotion: Fast Learning, Superior Energy Efficiency and Versatile Sensing in a Quadruped Robot[J]. 仿生工程学报, 2017, 14(1): 1-14.
[4]	Zhiyong Chang1, 2, Wei Liu1, 2, Jin Tong1, 2, Li Guo1, 2, Heng Xie1, 2, Xiao Yang1, 2, Haifeng Mu1, 2, Donghui Chen1, 2. Design and Experiments of Biomimetic Stubble Cutter[J]. J4, 2016, 13(2): 335-343.
[5]	Kirsten Reisen, Ulrich Teschemacher, Michael Niehues, Gunther Reinhart. Biomimetics in Production Organization &mdash\|A Literature Study and Framework[J]. J4, 2016, 13(2): 200-212.
[6]	Hoang Vu Phan1,2,3, Quang Tri Truong4, Thi Kim Loan Au1,2,3, Hoon Cheol Park1,2,. Effect of Wing Kinematics Modulation on Aerodynamic Force Generation in Hovering Insect-mimicking Flapping-wing Micro Air Vehicle[J]. J4, 2015, 12(4): 539-554.
[7]	Jin Tong1, Wenfeng Ji2, Honglei Jia1, Donghui Chen1, Xiaowan Yang1. Design and Tests of Biomimetic Blades for Soil-rototilling and Stubble-breaking[J]. J4, 2015, 12(3): 495-503.
[8]	Jin Tong1,2, Qingzhu Zhang3, Li Guo1,2,Yuan Chang1,2, Yingjie Guo4, Fengwu Zhu4,. Compaction Performance of Biomimetic Press Roller to Soil[J]. J4, 2015, 12(1): 152-159.
[9]	Yanwei Liu1,2, Shaoming Sun2, Xuan Wu1,2, Tao Mei2. A Wheeled Wall-Climbing Robot with Bio-Inspired Spine Mechanisms[J]. J4, 2015, 12(1): 17-28.
[10]	Bu Hyun Shin1, Kyung-Min Lee2, Seung-Yop Lee3. A Miniaturized Tadpole Robot Using an Electromagnetic Oscillatory Actuator[J]. J4, 2015, 12(1): 29-36.
[11]	Julien R. Serres, Franck Ruffier. Biomimetic Autopilot Based on Minimalistic Motion Vision for Navigating along Corridors Comprising U-shaped and S-shaped Turns[J]. J4, 2015, 12(1): 47-60.
[12]	Mark Grigorian. Biomimicry and Theory of Structures-Design Methodology Transfer from Trees to Moment Frames[J]. J4, 2014, 11(4): 638-648.
[13]	Qian Wang, Jiaju Hong, Yuying Yan. Biomimetic Capillary Inspired Heat Pipe Wicks[J]. J4, 2014, 11(3): 469-480.
[14]	Chunlin Zhou1, Kin Huat Low2. On-line Optimization of Biomimetic Undulatory Swimming by an Experiment-based Approach[J]. J4, 2014, 11(2): 213-225.
[15]	Jouh Yeong Chew, Daisuke Kurabayashi. Quantitative Analysis of the Silk Moth’s Chemical Plume Tracing Locomotion Using a Hierarchical Classification Method[J]. J4, 2014, 11(2): 268-281.

Velocity Control of a Bounding Quadruped via Energy Control and Vestibular Reflexes

Velocity Control of a Bounding Quadruped via Energy Control and Vestibular Reflexes

PDF (PC)

赞

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

Metrics

本文评价

推荐阅读 0