Hierarchical controller for highly dynamic locomotion utilizing pattern modulation and impedance control : implementation on the MIT Cheetah robot
Name
870998828-MIT.pdf
Description
Full printable version
Size
10.45 MB
Format
Adobe PDF
Checksum (MD5)
6cc1eb847fbfe470352268aa0fc52778
Author(s)
Lee, Jongwoo, (Scientist in Mechanical Engineering) Massachusetts Institute of Technology
Advisor(s)
Sangbae Kim.
Date Issued
2013
Publisher
Massachusetts Institute of Technology
Abstract
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.
Description
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2013.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 105-111).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
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