Learning Control of Quadruped Robot Galloping
- 106 Downloads
Achieving galloping gait in quadruped robots is challenging, because the galloping gait exhibits complex dynamical behaviors of a hybrid nonlinear under-actuated dynamic system. This paper presents a learning approach to quadruped robot galloping control. The control function is obtained through directly approximating real gait data by learning algorithm, without consideration of robot’s model and environment where the robot is located. Three motion control parameters are chosen to determine the galloping process, and the deduced control function is learned iteratively with modified Locally Weighted Projection Regression (LWPR) algorithm. Experiments conducted upon the bioinspired quadruped robot, AgiDog, indicate that the robot can improve running performance continuously along the learning process, and adapt itself to model and environment uncertainties.
Keywordsquadruped gallop dynamic running LWPR learning bioinspiration
Unable to display preview. Download preview PDF.
This work is partially supported by the National Natural Science Foundation of China (NSFC) under grant numbers 61175097 and 51475177, and the Research Fund for the Doctoral Programme of Higher Education of China (RFDP) under grant number 20130142110081.
- Muybridge E. Horses and Other Animals in Motion: 45 Classic Photographic Sequences, Dover Publications, New York, USA, 1985.Google Scholar
- WildCat, The World’s Fastest Quadruped Robot, [2017-12-06], https://www.bostondynamics.com/wildcatGoogle Scholar
- Nanua P. Dynamics of a Galloping Quadruped, Ohio State University, Ohio, USA, 1992.Google Scholar
- Marhefka D W, Orin D E. Fuzzy control of quadrupedal running. Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, USA, 2000, 3063–3069.Google Scholar
- Chae G, Park J H. Galloping trajectory optimization and control for quadruped robot using genetic algorithm. Proceedings of the IEEE International Conference on Robotics and Biomimetics, Sanya, China, 2007, 1166–1171.Google Scholar
- Reiser R F, Peterson M L, Kawcak C E, Mcllwraith C W. Forelimb hoof landing velocities in treadmill trotting and galloping horses. Society for Experimental Mechanics, Portland, USA, 2005.Google Scholar
- Heglund N C, Taylor C R. Speed, stride frequency and energy cost per stride: How do they change with body size and gait? Journal of Experimental Biology, 1988, 138, 301–318.Google Scholar