Biologically inspired control of quadruped walking robot

Ig Mo Koo; Tae Hun Kang; Gia Loc Vo; Tran Due Trong; Young Kuk Song; Hyouk Ryeol Choi

doi:10.1007/s12555-009-0409-z

Biologically inspired control of quadruped walking robot

Ig Mo Koo
, Tae Hun Kang
, Gia Loc Vo
, Tran Due Trong
, Young Kuk Song
, Hyouk Ryeol Choi

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

11 Scopus citations

Abstract

In this paper, we present a control method for a quadruped walking robot inspired from the locomotion of quadrupeds. A simple and useful framework for controlling a quadruped walking robot is presented, which is obtained by observing the stimulus-reaction mechanism, the gravity load receptor and the manner of generating repetitive motions from quadrupeds. In addition, we propose a new rhythmic pattern generator that can relieve the large computational burden on solving the kinematics. The proposed method is tested via a dynamic simulation and validated by implementation in a quadruped walking robot, called AiDIN-I (Artificial Digitigrade for Natural Environment I).

Original language	English
Pages (from-to)	577-584
Number of pages	8
Journal	International Journal of Control, Automation and Systems
Volume	7
Issue number	4
DOIs	https://doi.org/10.1007/s12555-009-0409-z
State	Published - Aug 2009

Keywords

Biomimetic
Gravity load controller
Quadruped walking robot

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10.1007/s12555-009-0409-z

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title = "Biologically inspired control of quadruped walking robot",

abstract = "In this paper, we present a control method for a quadruped walking robot inspired from the locomotion of quadrupeds. A simple and useful framework for controlling a quadruped walking robot is presented, which is obtained by observing the stimulus-reaction mechanism, the gravity load receptor and the manner of generating repetitive motions from quadrupeds. In addition, we propose a new rhythmic pattern generator that can relieve the large computational burden on solving the kinematics. The proposed method is tested via a dynamic simulation and validated by implementation in a quadruped walking robot, called AiDIN-I (Artificial Digitigrade for Natural Environment I).",

keywords = "Biomimetic, Gravity load controller, Quadruped walking robot",

author = "Koo, \{Ig Mo\} and Kang, \{Tae Hun\} and Vo, \{Gia Loc\} and Trong, \{Tran Due\} and Song, \{Young Kuk\} and Choi, \{Hyouk Ryeol\}",

year = "2009",

month = aug,

doi = "10.1007/s12555-009-0409-z",

language = "English",

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T1 - Biologically inspired control of quadruped walking robot

AU - Koo, Ig Mo

AU - Kang, Tae Hun

AU - Vo, Gia Loc

AU - Trong, Tran Due

AU - Song, Young Kuk

AU - Choi, Hyouk Ryeol

PY - 2009/8

Y1 - 2009/8

N2 - In this paper, we present a control method for a quadruped walking robot inspired from the locomotion of quadrupeds. A simple and useful framework for controlling a quadruped walking robot is presented, which is obtained by observing the stimulus-reaction mechanism, the gravity load receptor and the manner of generating repetitive motions from quadrupeds. In addition, we propose a new rhythmic pattern generator that can relieve the large computational burden on solving the kinematics. The proposed method is tested via a dynamic simulation and validated by implementation in a quadruped walking robot, called AiDIN-I (Artificial Digitigrade for Natural Environment I).

AB - In this paper, we present a control method for a quadruped walking robot inspired from the locomotion of quadrupeds. A simple and useful framework for controlling a quadruped walking robot is presented, which is obtained by observing the stimulus-reaction mechanism, the gravity load receptor and the manner of generating repetitive motions from quadrupeds. In addition, we propose a new rhythmic pattern generator that can relieve the large computational burden on solving the kinematics. The proposed method is tested via a dynamic simulation and validated by implementation in a quadruped walking robot, called AiDIN-I (Artificial Digitigrade for Natural Environment I).

KW - Biomimetic

KW - Gravity load controller

KW - Quadruped walking robot

UR - https://www.scopus.com/pages/publications/69749108472

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DO - 10.1007/s12555-009-0409-z

M3 - Article

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VL - 7

SP - 577

EP - 584

JO - International Journal of Control, Automation and Systems

JF - International Journal of Control, Automation and Systems

IS - 4

ER -

Biologically inspired control of quadruped walking robot

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