期刊
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
卷 24, 期 4, 页码 239-256出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364904050917
关键词
legged locomotion; modeling; quadrupedal robot; dynamic running; bounding gait; dynamic stability
类别
In this paper we compare models and experiments involving Scout II, an untethered four-legged running robot with only one actuator per compliant leg. Scout II achieves dynamically stable running of up to 1.3 m s(-1) on flat ground via a bounding gait. Energetics analysis reveals a highly efficient system with a specific resistance of only 1.4. The running controller requires no task-level or body-state feedback, and relies on the passive dynamics of the mechanical system. These results contribute to the increasing evidence that apparently complex dynamically dexterous tasks may be controlled via simple control laws. We discuss general modeling issues for dynamically, stable legged robots. Two simulation models are compared with experimental data to test the validity of common simplifying assumptions. The need for including motor saturation and non-rigid torque transmission characteristics in simulation models is demonstrated. Similar issues are likely to be important in other dynamically stable legged robots as well. An extensive suite of experimental results documents the robot's performance and the validity of the proposed models.
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