Passive compliant quadruped robot using central pattern generators for locomotion control

Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008

Volumn , Issue , 2008, Pages 710-715

  Rutishauser, Simon ^a   Sprówitz, Alexander ^a   Righetti, Ludovic ^a   Ijspeert, Auke Jan ^a  

^a EPFL   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE SYSTEMS; JOINTS (ANATOMY); MOTION CONTROL; MULTIPURPOSE ROBOTS;

CENTRAL PATTERN GENERATORS; DESKTOP COMPUTERS; FORCE TRANSMISSIONS; FORWARD VELOCITIES; HIP JOINTS; KNEE JOINTS; LOCOMOTION CONTROLS; PARAMETER SPACES; QUADRUPED ROBOTS; SERVO MOTORS; TWO DEGREES OF FREEDOMS;

ROBOTICS;

EID: 63049088216     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/BIOROB.2008.4762878     Document Type: Conference Paper

References (22)

1. T. McGeer, "Passive dynamic walking," International Journal of Robotics Research, vol. 9, no. 2, pp. 62-82, 1990.
2. A. D. Kuo, "Stabilization of lateral motion in passive dynamic walking," The International Journal of Robotics Research, vol. 18, pp. 917-930, 1999.
3. H. Kimura and Y. Fukuoka, "Biologically inspired adaptive dynamic walking in outdoor environment using a self-contained quadruped robot: 'tekken2'," Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on, vol. 1, pp. 986-991 vol. 1, 28 Sept.-2 Oct. 2004.
4. K. Arikawa and S. Hirose, "Development of quadruped walking robot titan-viii," Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on, vol. 1, pp. 208-214 vol. 1, 4-8 Nov 1996.
5. S. Hirose and K. Arikawa, "Coupled and decoupled actuation of robotic mechanisms," Advanced Robotics, vol. 15, no. 2, pp. 125-138, 2001.
6. D. Papadopoulos and M. Buehler, "Stable running in a quadruped robot with compliant legs," Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on, vol. 1, pp. 444-449 vol. 1, 2000.
7. J. Smith and I. Poulakakis, "Rotary gallop in the untethered quadrupedal robot scout ii," Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on, vol. 3, pp. 2556-2561 vol. 3, 28 Sept.-2 Oct. 2004.
8. Z. Zhang, Y. Fukuoka, and H. Kimura, "Stable quadrupedal running based spring-loaded two-segment legged on a model," Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on, vol. 3, pp. 2601-2606 Vol. 3, 26 April-1 May 2004.
9. F. Iida, "Cheap design approach to adaptive behavior: Walking and sensing through body dynamics," in International Symposium on Adaptive Motion of Animals and Machines, 2005.
10. F. Iida, G. Gomez, and R. Pfeifer, "Exploiting body dynamics for controlling a running quadruped robot." in Proceedings of the 12th Int. Conf. on Advanced Robotics (ICAR05), 2005, pp. 229-235.
11. R. Blickhan, "The spring-mass model for running and hopping," Journal of Biomechanics, vol. 22, no. 11-12, pp. 1217-1227, 1989.
12. L. Righetti and A. Ijspeert, "Pattern generators with sensory feedback for the control of quadruped locomotion," in Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA 2008), 2008, conference, in Press.
13. M. Giïnther, V. Keppler, A. Seyfarth, and R. Blickhan, "Human leg design: optimal axial alignment under constraints," Journal of Mathematical Biology, vol. 48, no. 6, pp. 623-646, 2004.
14. R. Blickhan, A. Seyfarth, H. Geyer, S. Grimmer, H. Wagner, and M. Günther, "Intelligence by mechanics," Philosophical Transactions of the Royal Society, vol. 365, pp. 199-220, 2007.
15. L. M. Day and B. C. Jayne, "Interspecific scaling of the morphology and posture of the limbs during the locomotion of cats (Felidae)," J Exp Biol, vol. 210, no. 4, pp. 642-654, 2007.
16. M. S. Fischer, N. Schilling, M. Schmidt, D. Haarhaus, and H. Witte, "Basic limb kinematics of small therian mammals," J Exp Biol, vol. 205, no. 9, pp. 1315-1338, 2002.
17. A. Seyfarth, M. Günther, and R. Blickhan, "Stable operation of an elastic three-segment leg," Biological Cybernetics, vol. 84, no. 5, pp. 365-382, 2001.
18. R. M. Alexander, "The Gaits of Bipedal and Quadrupedal Animals," The International Journal of Robotics Research, vol. 3, no. 2, pp. 49-59, 1984.
19. H. Geyer, A. Seyfarth, and R. Blickhan, "Spring-mass running: simple approximate solution and application to gait stability," J. Theor. Biol., vol. 232, no. 3, pp. 315-328, 2004.
20. A. J. Ijspeert, "Central pattern generators for locomotion control in animals and robots: a review," Neural Networks, vol. 21, no. 4, pp. 642-653, 2008.
21. S. Grillner, "Locomotion in vertebrates: central mechanisms and reflex interaction," Physiol. Rev., vol. 55, no. 2, pp. 247-304, 1975.
22. (2008) Cheetah movies. [Online]. Available: http://birg2.epfl.ch/movies/ full/avi/cheetah/Cheetah-walk-xvid.avi and http://birg2.epfl.ch/movies/full/avi/ cheetah/Cheetah-pace-xvid.avi