On the dynamics of a quadruped robot model with impedance control; self-stabilizing high speed trot-running and period-doubling bifurcations
- Lee, Jongwoo; Hyun, Dong Jin; Ahn, Jooeun; Kim, Sangbae; Hogan, Neville
- Issue Date
- 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pp. 4907-4913
- On the dynamics of a quadruped robot model with impedance control; self-stabilizing high speed trot-running and period-doubling bifurcations; 공학
- 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.
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