Fore-Aft Leg Specialization Controller for a Dynamic Quadruped
Jason M. Brown, Charlie P. Carbiener, John Nicholson, Nicholas Hemenway, Jason L. Pusey, Jonathan E. Clark
Abstract
Many running animals, unlike their robotic counterparts, have distinct morphologies and functional roles for their front and rear legs. In this paper we present a new control approach for a 5kg autonomous dynamic quadruped that explicitly encodes separate roles for each contralateral pair of legs. This controller utilizes a functional dynamic decomposition similar to Raibert's three part control law, but focuses on fore-aft leg specialization to regulate the robot's performance. The velocity of this controller, which exceeds 5 body lengths per sec, is compared with an improved trajectory-based controller and shown to be significantly more robust to changes in environment.
BibTeX
@inproceedings{icra2018_foreaftlegspecia,
title = {Fore-Aft Leg Specialization Controller for a Dynamic Quadruped},
author = {Jason M. Brown and Charlie P. Carbiener and John Nicholson and Nicholas Hemenway and Jason L. Pusey and Jonathan E. Clark},
booktitle = {ICRA 2018},
year = {2018}
}