TY - JOUR
T1 - Parametric models for motion planning and control in biomimetic robotics
AU - Dordević, Goran S.
AU - Rašić, Milan
AU - Shadmehr, Reza
N1 - Funding Information:
Manuscript received October 23, 2003; revised April 27, 2004. This paper was recommended for publication by Associate Editor K. Lynch and Editor I. Walker upon evaluation of the reviewers’ comments. This work was supported in part by the U.S. Department of Defence, Office of Naval Research, under MURI Grant N00014-98-1-0669.
PY - 2005/2
Y1 - 2005/2
N2 - We describe the design, testing and tools to build parametric models of a six-legged cockroach-like robot for velocity control without precise knowledge on the robot's geometry or its inertia. Robot legs were made by Shape Deposition Manufacturing and were compliant at the "knee." These kinds of robots usually have a limited number of actuators and a small number of low-cost sensors. Consequently, they are difficult to control with analytic models. Our goal was to design a very fast robot that could run in a straight line over short distances at a desired velocity. We incorporated such legs into a novel body design, where position and orientation of the legs were chosen to enhance static stability. Robot design proved to be robust, as the machine did not suffer any failure in over 20 000 runs. We found that body-pitch angle was a crucial parameter in the control of running speed. To control this angle, we built a parametric model that related leg orientation to pitch angle. We experimented with various leg stiffness parameters, and built a comprehensive parametric model that quantified performance as a function of this parameter, as well as body-pitch angle, ground slope, and body mass. When these parameters were optimized, the robot consistently achieved a speed of six body lengths per second, even when pulling a large load in the form of a trailer cart.
AB - We describe the design, testing and tools to build parametric models of a six-legged cockroach-like robot for velocity control without precise knowledge on the robot's geometry or its inertia. Robot legs were made by Shape Deposition Manufacturing and were compliant at the "knee." These kinds of robots usually have a limited number of actuators and a small number of low-cost sensors. Consequently, they are difficult to control with analytic models. Our goal was to design a very fast robot that could run in a straight line over short distances at a desired velocity. We incorporated such legs into a novel body design, where position and orientation of the legs were chosen to enhance static stability. Robot design proved to be robust, as the machine did not suffer any failure in over 20 000 runs. We found that body-pitch angle was a crucial parameter in the control of running speed. To control this angle, we built a parametric model that related leg orientation to pitch angle. We experimented with various leg stiffness parameters, and built a comprehensive parametric model that quantified performance as a function of this parameter, as well as body-pitch angle, ground slope, and body mass. When these parameters were optimized, the robot consistently achieved a speed of six body lengths per second, even when pulling a large load in the form of a trailer cart.
KW - Legged locomotion
KW - Mobile robot motion planning
KW - Modeling
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U2 - 10.1109/TRO.2004.833820
DO - 10.1109/TRO.2004.833820
M3 - Article
AN - SCOPUS:14044262206
SN - 1552-3098
VL - 21
SP - 80
EP - 92
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 1
ER -