Biologically inspired control of quadruped walking robot

Ig Mo Koo; Tae Hun Kang; Gia Loc Vo; Tran Due Trong; Young Kuk Song; Hyouk Ryeol Choi

doi:10.1007/s12555-009-0409-z

Biologically inspired control of quadruped walking robot

Ig Mo Koo, Tae Hun Kang, Gia Loc Vo, Tran Due Trong, Young Kuk Song, Hyouk Ryeol Choi

Division of Intelligent Robot

Sungkyunkwan University

Research output: Contribution to journal › Article › peer-review

10 Scopus citations

Abstract

In this paper, we present a control method for a quadruped walking robot inspired from the locomotion of quadrupeds. A simple and useful framework for controlling a quadruped walking robot is presented, which is obtained by observing the stimulus-reaction mechanism, the gravity load receptor and the manner of generating repetitive motions from quadrupeds. In addition, we propose a new rhythmic pattern generator that can relieve the large computational burden on solving the kinematics. The proposed method is tested via a dynamic simulation and validated by implementation in a quadruped walking robot, called AiDIN-I (Artificial Digitigrade for Natural Environment I).

Original language	English
Pages (from-to)	577-584
Number of pages	8
Journal	International Journal of Control, Automation and Systems
Volume	7
Issue number	4
DOIs	https://doi.org/10.1007/s12555-009-0409-z
State	Published - Aug 2009

Bibliographical note

Funding Information:
Manuscript received January 23, 2008; revised August 16, 2008; accepted December 15, 2008. Recommended by Editorial Board member Sangdeok Park under the direction of Editor Jae-Bok Song. This work was supported by the Korea Research Foundation Grant funded by the Korean Government (MOEHRD) (KRF-2005-D00031).

Keywords

Biomimetic
Gravity load controller
Quadruped walking robot

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10.1007/s12555-009-0409-z

Cite this

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title = "Biologically inspired control of quadruped walking robot",

abstract = "In this paper, we present a control method for a quadruped walking robot inspired from the locomotion of quadrupeds. A simple and useful framework for controlling a quadruped walking robot is presented, which is obtained by observing the stimulus-reaction mechanism, the gravity load receptor and the manner of generating repetitive motions from quadrupeds. In addition, we propose a new rhythmic pattern generator that can relieve the large computational burden on solving the kinematics. The proposed method is tested via a dynamic simulation and validated by implementation in a quadruped walking robot, called AiDIN-I (Artificial Digitigrade for Natural Environment I).",

keywords = "Biomimetic, Gravity load controller, Quadruped walking robot",

author = "Koo, \{Ig Mo\} and Kang, \{Tae Hun\} and Vo, \{Gia Loc\} and Trong, \{Tran Due\} and Song, \{Young Kuk\} and Choi, \{Hyouk Ryeol\}",

note = "Funding Information: Manuscript received January 23, 2008; revised August 16, 2008; accepted December 15, 2008. Recommended by Editorial Board member Sangdeok Park under the direction of Editor Jae-Bok Song. This work was supported by the Korea Research Foundation Grant funded by the Korean Government (MOEHRD) (KRF-2005-D00031).",

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doi = "10.1007/s12555-009-0409-z",

language = "English",

volume = "7",

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AU - Koo, Ig Mo

AU - Kang, Tae Hun

AU - Vo, Gia Loc

AU - Trong, Tran Due

AU - Song, Young Kuk

AU - Choi, Hyouk Ryeol

N1 - Funding Information: Manuscript received January 23, 2008; revised August 16, 2008; accepted December 15, 2008. Recommended by Editorial Board member Sangdeok Park under the direction of Editor Jae-Bok Song. This work was supported by the Korea Research Foundation Grant funded by the Korean Government (MOEHRD) (KRF-2005-D00031).

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N2 - In this paper, we present a control method for a quadruped walking robot inspired from the locomotion of quadrupeds. A simple and useful framework for controlling a quadruped walking robot is presented, which is obtained by observing the stimulus-reaction mechanism, the gravity load receptor and the manner of generating repetitive motions from quadrupeds. In addition, we propose a new rhythmic pattern generator that can relieve the large computational burden on solving the kinematics. The proposed method is tested via a dynamic simulation and validated by implementation in a quadruped walking robot, called AiDIN-I (Artificial Digitigrade for Natural Environment I).

AB - In this paper, we present a control method for a quadruped walking robot inspired from the locomotion of quadrupeds. A simple and useful framework for controlling a quadruped walking robot is presented, which is obtained by observing the stimulus-reaction mechanism, the gravity load receptor and the manner of generating repetitive motions from quadrupeds. In addition, we propose a new rhythmic pattern generator that can relieve the large computational burden on solving the kinematics. The proposed method is tested via a dynamic simulation and validated by implementation in a quadruped walking robot, called AiDIN-I (Artificial Digitigrade for Natural Environment I).

KW - Biomimetic

KW - Gravity load controller

KW - Quadruped walking robot

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DO - 10.1007/s12555-009-0409-z

M3 - Article

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JO - International Journal of Control, Automation and Systems

JF - International Journal of Control, Automation and Systems

IS - 4

ER -

Biologically inspired control of quadruped walking robot

Abstract

Bibliographical note

Keywords

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