Dynamic Turning Control of a Quadruped Robot using Oscillator Network.pdf

Dynamic Turning Control of a Quadruped Robot using Oscillator Network Katsuyoshi Tsujita, Hiroomi Toui and Kazuo Tsuchiya Dept. of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Yoshida Hon-machi, Sakyo, Kyoto 606–8501 Email: tsujita@kuaero.kyoto-u.ac.jp Abstract— The author have proposed a dynamic turning con- fewer degrees of freedom but to retain the necessary flexibility trol system of a quadruped robot by using nonlinear oscillators. for a changing environment[3]. It is composed of a motion controller and a motion planner. The motion controller drives the actuators of the legs by using On the other hand, research has been done on a control sys- local feedback control. The motion planner involves nonlinear tem for walking robot which enables to adapt to variances of oscillators with mutual interactions. In this paper, capability of the environment based on the CPG(Central Pattern Generator) dynamic turning motion of the proposed control system is verified principle[4]–[8]. through numerical simulations: In the slow speed turning, the robot has strong constraints geometrically. Whereas in the high However, not so many researches treat the maneuverability speed turning, the robot has great influences of dynamic forces. of a quadruped robot. In order to make a voluntary motion such These constraints conditions makes the motion of the robot as turning motion, it is very important for the robot to have asymmetry in terms of duty ratio, stride and center of forc