Control of a quadruped walking robot based on biologically inspired approach

Ig Mo Koo; Tran Duc Trong; Tae Hun Kang; Gia Loc Vo; Young Kuk Song; Chang Min Lee; Hyouk Ryeol Choi

doi:10.1109/IROS.2007.4399125

Control of a quadruped walking robot based on biologically inspired approach

Ig Mo Koo, Tran Duc Trong, Tae Hun Kang, Gia Loc Vo, Young Kuk Song, Chang Min Lee, Hyouk Ryeol Choi

Division of Intelligent Robot

Sungkyunkwan University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

16 Scopus citations

Abstract

In this paper, a new biomimetic control method for a quadruped walking robot is proposed. The method is derived by the observation of the gravity load receptor and stimulus-reaction mechanism of quadrupeds' locomotion, and the study of the stances on walking and energy efficiency. Though the controller is simple, it provides a useful framework for controlling a quadruped walking robot. In particular, by introducing a new rhythmic pattern generator the heavy computational burden to be paid on solving kinematics is relieved. The effectiveness of the proposed method is validated via a dynamic simulation and experimental works in a quadruped walking robot, called AiDIN(Artificial Digitigrade for Natural Environment).

Original language	English
Title of host publication	Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages	2969-2974
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2007.4399125
State	Published - 2007
Event	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States Duration: 29 Oct 2007 → 2 Nov 2007

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Conference

Conference	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Country/Territory	United States
City	San Diego, CA
Period	29/10/07 → 2/11/07

Bibliographical note

Funding Information:
★ This research was supported in part by the project of the dual-use technology for military and civilian missions(”Development of Quadruped Robots”) of the Ministry of Commerce, Industry and Energy (MOCIE), KOREA.

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/IROS.2007.4399125

Cite this

Koo, I. M., Trong, T. D., Kang, T. H., Vo, G. L., Song, Y. K., Lee, C. M., & Choi, H. R. (2007). Control of a quadruped walking robot based on biologically inspired approach. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 2969-2974). Article 4399125 (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399125

@inproceedings{a950e708077e42d38b327455d9cfeea1,

title = "Control of a quadruped walking robot based on biologically inspired approach",

abstract = "In this paper, a new biomimetic control method for a quadruped walking robot is proposed. The method is derived by the observation of the gravity load receptor and stimulus-reaction mechanism of quadrupeds' locomotion, and the study of the stances on walking and energy efficiency. Though the controller is simple, it provides a useful framework for controlling a quadruped walking robot. In particular, by introducing a new rhythmic pattern generator the heavy computational burden to be paid on solving kinematics is relieved. The effectiveness of the proposed method is validated via a dynamic simulation and experimental works in a quadruped walking robot, called AiDIN(Artificial Digitigrade for Natural Environment).",

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

note = "Funding Information: ★ This research was supported in part by the project of the dual-use technology for military and civilian missions(”Development of Quadruped Robots”) of the Ministry of Commerce, Industry and Energy (MOCIE), KOREA.; 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 ; Conference date: 29-10-2007 Through 02-11-2007",

year = "2007",

doi = "10.1109/IROS.2007.4399125",

language = "English",

isbn = "1424409128",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "2969--2974",

booktitle = "Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007",

}

Koo, IM, Trong, TD, Kang, TH, Vo, GL, Song, YK, Lee, CM & Choi, HR 2007, Control of a quadruped walking robot based on biologically inspired approach. in Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007., 4399125, IEEE International Conference on Intelligent Robots and Systems, pp. 2969-2974, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, CA, United States, 29/10/07. https://doi.org/10.1109/IROS.2007.4399125

Control of a quadruped walking robot based on biologically inspired approach. / Koo, Ig Mo; Trong, Tran Duc; Kang, Tae Hun et al.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 2969-2974 4399125 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Lee, Chang Min

AU - Choi, Hyouk Ryeol

N1 - Funding Information: ★ This research was supported in part by the project of the dual-use technology for military and civilian missions(”Development of Quadruped Robots”) of the Ministry of Commerce, Industry and Energy (MOCIE), KOREA.

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AB - In this paper, a new biomimetic control method for a quadruped walking robot is proposed. The method is derived by the observation of the gravity load receptor and stimulus-reaction mechanism of quadrupeds' locomotion, and the study of the stances on walking and energy efficiency. Though the controller is simple, it provides a useful framework for controlling a quadruped walking robot. In particular, by introducing a new rhythmic pattern generator the heavy computational burden to be paid on solving kinematics is relieved. The effectiveness of the proposed method is validated via a dynamic simulation and experimental works in a quadruped walking robot, called AiDIN(Artificial Digitigrade for Natural Environment).

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Control of a quadruped walking robot based on biologically inspired approach

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