Modular Control of Limit Cycle Locomotion over Unperceived Rough Terrain

2013

Conference Paper

dlg

We present a general approach to design modular controllers for limit cycle locomotion over unperceived rough terrain. The control strategy uses a Central Pattern Generator (CPG) model implemented as coupled nonlinear oscillators as basis. Stumbling correction and leg extension reflexes are implemented as feedbacks for fast corrections, and model-based posture control mechanisms define feedbacks for continuous corrections. The control strategy is validated on a detailed physics-based simulated model of a compliant quadruped robot, the Oncilla robot. We demonstrate dynamic locomotion with a speed of more than 1.5 BodyLength/s over unperceived uneven terrains, steps, and slopes.

@inproceedings{escidoc:2316378,
  title = {Modular Control of Limit Cycle Locomotion over Unperceived Rough Terrain},
  author = {Ajallooeian, Mostafa and Gay, Sebastien and Tuleu, Alexandre and Spr{\"o}witz, Alexander and Ijspeert, Auke Jan},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013},
  pages = {3390--3397},
  address = {Tokyo},
  year = {2013},
  doi = {10.1109/IROS.2013.6696839}
}