Novel Quadruped Robot Locomotion Control based on the SLIP-like Behavior Projected Leg Dynamics Controller in the Rotating Workspace
- Title
- Novel Quadruped Robot Locomotion Control based on the SLIP-like Behavior Projected Leg Dynamics Controller in the Rotating Workspace
- Author(s)
- Jeongwoo Hong
- DGIST Authors
- Jeongwoo Hong ; Sehoon Oh ; Dongwon Yun
- Advisor
- 오세훈
- Co-Advisor(s)
- Dongwon Yun
- Issued Date
- 2023
- Awarded Date
- 2023-08-01
- 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
- Degree
- Master
- Publisher
- DGIST
- Related Researcher
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Oh, Sehoon
- Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
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- Appears in Collections:
- Department of Robotics and Mechatronics Engineering Theses Master
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