Intelligent Control of Quadruped Gallops

Marhefka, DW; Orin, DE; Schmiedeier, JP; Waldron, KJ

Intelligent Control of Quadruped Gallops

Marhefka, DW Orin, DE Schmiedeier, JP Waldron, KJ

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Publication Type:: Journal Article
Citation:: IEEE/ASME Transactions on Mechatronics, 2003, 8 (4), pp. 446 - 456
Issue Date:: 2003-12-01

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Field	Value	Language
dc.contributor.author	Marhefka, DW	en_US
dc.contributor.author	Orin, DE	en_US
dc.contributor.author	Schmiedeier, JP	en_US
dc.contributor.author	Waldron, KJ https://orcid.org/0000-0002-7910-4907	en_US
dc.date.issued	2003-12-01	en_US
dc.identifier.citation	IEEE/ASME Transactions on Mechatronics, 2003, 8 (4), pp. 446 - 456	en_US
dc.identifier.issn	1083-4435	en_US
dc.identifier.uri	http://hdl.handle.net/10453/9175
dc.description.abstract	In this paper, a new intelligent control approach for high-speed quadruped bounding and galloping gaits is presented. The controller is capable of learning the leg touchdown angles and leg thrusts required to track the desired running height and velocity of a quadruped in only one stride. Training of the controller is accomplished not with a mathematical model, but with simple rules based on a heuristic knowledge of the quadruped mechanics. The result is a controller that produces better velocity and height tracking characteristics than a Raibert-based controller and is robust to modeling errors. Additionally, by making use of the natural dynamics of the system, gait characteristics comparable to biological quadrupeds result. The status of a legged machine being constructed for demonstration of the control approach and further study of the characteristics of galloping is also presented.	en_US
dc.relation.ispartof	IEEE/ASME Transactions on Mechatronics	en_US
dc.relation.isbasedon	10.1109/TMECH.2003.820001	en_US
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Intelligent Control of Quadruped Gallops	en_US
dc.type	Journal Article
utslib.citation.volume	4	en_US
utslib.citation.volume	8	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
utslib.for	0910 Manufacturing Engineering	en_US
utslib.for	0913 Mechanical Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
utslib.copyright.status	closed_access
pubs.issue	4	en_US
pubs.publication-status	Published	en_US
pubs.volume	8	en_US

Abstract:

In this paper, a new intelligent control approach for high-speed quadruped bounding and galloping gaits is presented. The controller is capable of learning the leg touchdown angles and leg thrusts required to track the desired running height and velocity of a quadruped in only one stride. Training of the controller is accomplished not with a mathematical model, but with simple rules based on a heuristic knowledge of the quadruped mechanics. The result is a controller that produces better velocity and height tracking characteristics than a Raibert-based controller and is robust to modeling errors. Additionally, by making use of the natural dynamics of the system, gait characteristics comparable to biological quadrupeds result. The status of a legged machine being constructed for demonstration of the control approach and further study of the characteristics of galloping is also presented.

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http://hdl.handle.net/10453/9175