Hierarchical controller for highly dynamic locomotion utilizing pattern modulation and impedance control : implementation on the MIT Cheetah robot
Author(s)Lee, Jongwoo, S.M. Massachusetts Institute of Technology
Massachusetts Institute of Technology. Department of Mechanical Engineering.
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This thesis presents a hierarchical control algorithm for quadrupedal locomotion. We address three challenges in developing a controller for high-speed running: locomotion stability, control of ground reaction force, and coordination of four limbs. To tackle these challenges, the proposed algorithm employs three strategies. Leg impedance control provides programmable virtual compliance of each leg which achieve self-stability in locomotion. The four legs exert forces to the ground using equilibrium-point hypothesis. A gait pattern modulator imposes a desired footfall sequence. The control algorithm is verified in a dynamic simulator constructed using MATLAB and then in the subsequent experiments on the MIT Cheetah robot. The experiments on the MIT Cheetah robot demonstrates high speed trot running reaching up to the speed of 6 m/s on a treadmill. This speed corresponds to a Froude number (Fr = 7.34), which is comparatively higher than other existing quadrupedal robots.
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2013.Cataloged from PDF version of thesis.Includes bibliographical references (pages 105-111).
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology