Title

Novel Quadruped Robot Locomotion Control based on the SLIP-like Behavior Projected Leg Dynamics Controller in the Rotating Workspace

DGIST Authors

Jeongwoo Hong ; Sehoon Oh ; Dongwon Yun

Advisor

오세훈

Co-Advisor(s)

Dongwon Yun

Issued Date

2023

Awarded Date

2023-08-01

Citation

Jeongwoo Hong. (2023). Novel Quadruped Robot Locomotion Control based on the SLIP-like Behavior Projected Leg Dynamics Controller in the Rotating Workspace. doi: 10.22677/THESIS.200000686860

Type

Thesis

Description

Quadruped robot locomotion; Spring-Loaded Inverted Pendulum (SLIP); Rotating Workspace Disturbance Observer (RWDOB); Rotating Workspace Force Observer (RWFOB); Admittance control

Table Of Contents

I. Introduction

II. Establishment of Trunk and Leg Coordinates
2.1 Rotating Workspace for SLIP Motion Description
2.2 Description of Trunk Motion

III. SLIP Motion Realization of Articulated Leg
3.1 Projection of Leg Dynamics onto Rotating Workspace
3.2 GRF Estimation in the Rotating Workspace
3.3 Admittance Control for Compliance Rendering

IV. Trunk Locomotion Generation
4.1 Quadrupedal Locomotion in the Aspect of SLIP Motion
4.2 Gait Scheduler
4.3 Trajectory Generation for Swinging Leg Motion
4.4 Trajectory Generation for Supporting Leg Motion

V. Results
5.1 Simulation Results
5.1.1 Evaluation of Leg Controller for SLIP Realization
5.1.2 Simulation of Quadruped Gait
5.2 Experimental Results

VI. Conclusions

URI

http://hdl.handle.net/20.500.11750/46429
http://dgist.dcollection.net/common/orgView/200000686860

DOI

10.22677/THESIS.200000686860

Degree

Master

Department

Department of Robotics and Mechatronics Engineering

Publisher

DGIST

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