Toward agile control of a flexible-spine model for quadruped bounding

Katie Byl; Brian Satzinger; Tom Strizic; Pat Terry; Jason Pusey

doi:10.1117/12.2177432

22 May 2015 Toward agile control of a flexible-spine model for quadruped bounding

Katie Byl, Brian Satzinger, Tom Strizic, Pat Terry, Jason Pusey

Proceedings Volume 9468, Unmanned Systems Technology XVII; 94680C (2015) https://doi.org/10.1117/12.2177432
Event: SPIE Defense + Security, 2015, Baltimore, MD, United States

Abstract

Legged systems should exploit non-steady gaits both for improved recovery from unexpected perturbations and also to enlarge the set of reachable states toward negotiating a range of known upcoming terrain obstacles. We present a 4-link planar, bounding, quadruped model with compliance in its legs and spine and describe design of an intuitive and effective low-level gait controller. We extend our previous work on meshing hybrid dynamic systems and demonstrate that our control strategy results in stable gaits with meshable, low-dimension step- to-step variability. This meshability is a first step toward enabling switching control, to increase stability after perturbations compared with any single gait control, and we describe how this framework can also be used to find the set of n-step reachable states. Finally, we propose new guidelines for quantifying "agility" for legged robots, providing a preliminary framework for quantifying and improving performance of legged systems.

Citation Download Citation

Katie Byl, Brian Satzinger, Tom Strizic, Pat Terry, and Jason Pusey "Toward agile control of a flexible-spine model for quadruped bounding", Proc. SPIE 9468, Unmanned Systems Technology XVII, 94680C (22 May 2015); https://doi.org/10.1117/12.2177432

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available