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Proceedings Paper

Gait development on Minitaur, a direct drive quadrupedal robot
Author(s): Daniel J. Blackman; John V. Nicholson; Camilo Ordonez; Bruce D. Miller; Jonathan E. Clark
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Paper Abstract

This paper describes the development of a dynamic, quadrupedal robot designed for rapid traversal and interaction in human environments. We explore improvements to both physical and control methods to a legged robot (Minitaur) in order to improve the speed and stability of its gaits and increase the range of obstacles that it can overcome, with an eye toward negotiating man-made terrains such as stairs. These modifications include an analysis of physical compliance, an investigation of foot and leg design, and the implementation of ground and obstacle contact sensing for inclusion in the control schemes. Structural and mechanical improvements were made to reduce undesired compliance for more consistent agreement with dynamic models, which necessitated refinement of foot design for greater durability. Contact sensing was implemented into the control scheme for identifying obstacles and deviations in surface level for negotiation of varying terrain. Overall the incorporation of these features greatly enhances the mobility of the dynamic quadrupedal robot and helps to establish a basis for overcoming obstacles.

Paper Details

Date Published: 13 May 2016
PDF: 15 pages
Proc. SPIE 9837, Unmanned Systems Technology XVIII, 98370I (13 May 2016); doi: 10.1117/12.2231105
Show Author Affiliations
Daniel J. Blackman, Florida State Univ. (United States)
John V. Nicholson, Florida State Univ. (United States)
Camilo Ordonez, Florida State Univ. (United States)
Bruce D. Miller, Florida State Univ. (United States)
Jonathan E. Clark, Florida State Univ. (United States)


Published in SPIE Proceedings Vol. 9837:
Unmanned Systems Technology XVIII
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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