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Proceedings Paper

Toward agile control of a flexible-spine model for quadruped bounding
Author(s): Katie Byl; Brian Satzinger; Tom Strizic; Pat Terry; Jason Pusey
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Paper Abstract

Legged systems should exploit non-steady gaits both for improved recovery from unexpected perturbations and also to enlarge the set of reachable states toward negotiating a range of known upcoming terrain obstacles. We present a 4-link planar, bounding, quadruped model with compliance in its legs and spine and describe design of an intuitive and effective low-level gait controller. We extend our previous work on meshing hybrid dynamic systems and demonstrate that our control strategy results in stable gaits with meshable, low-dimension step- to-step variability. This meshability is a first step toward enabling switching control, to increase stability after perturbations compared with any single gait control, and we describe how this framework can also be used to find the set of n-step reachable states. Finally, we propose new guidelines for quantifying "agility" for legged robots, providing a preliminary framework for quantifying and improving performance of legged systems.

Paper Details

Date Published: 22 May 2015
PDF: 11 pages
Proc. SPIE 9468, Unmanned Systems Technology XVII, 94680C (22 May 2015); doi: 10.1117/12.2177432
Show Author Affiliations
Katie Byl, Univ. of California, Santa Barbara (United States)
Brian Satzinger, Univ. of California, Santa Barbara (United States)
Tom Strizic, Univ. of California, Santa Barbara (United States)
Pat Terry, Univ. of California, Santa Barbara (United States)
Jason Pusey, U.S. Army Research Lab. (United States)

Published in SPIE Proceedings Vol. 9468:
Unmanned Systems Technology XVII
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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