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
