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On the dynamics of a quadruped robot model with impedance control; self-stabilizing high speed trot-running and period-doubling bifurcations

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Authors
Lee, Jongwoo; Hyun, Dong Jin; Ahn, Jooeun; Kim, Sangbae; Hogan, Neville
Issue Date
2014-09-16
Publisher
IEEE
Citation
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pp. 4907-4913
Keywords
On the dynamics of a quadruped robot model with impedance control; self-stabilizing high speed trot-running and period-doubling bifurcations공학
Abstract
The MIT Cheetah demonstrated a stable 6 m/s trot gait in the sagittal plane utilizing the self-stable characteristics of locomotion. This paper presents a numerical analysis of the behavior of a quadruped robot model with the proposed controller. We first demonstrate the existence of periodic trot gaits at various speeds and examine local orbital stability of each trajectory using Poincar`e map analysis. Beyond the local stability, we additionally demonstrate the stability of the model against large initial perturbations. Stability of trot gaits at a wide range of speed enables gradual acceleration demonstrated in this paper and a real machine. This simulation study also suggests the upper limit of the command speed that ensures stable steady-state running. As we increase the command speed, we observe series of period-doubling bifurcations, which suggests presence of chaotic dynamics beyond a certain level of command speed. Extension of this simulation analysis will provide useful guidelines for searching control parameters to further improve the system performance.
ISSN
2153-0858
URI
http://hdl.handle.net/10371/116814
DOI
https://doi.org/10.1109/IROS.2014.6943260
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College of Education (사범대학)Dept. of Physical Education (체육교육과)Others_체육교육과
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