| Title | On the dynamics of a quadruped robot model with impedance control: Self-stabilizing high speed trot-running and period-doubling bifurcations |
|---|
| Publication Type | Conference Paper |
|---|
| Year of Publication | 2014 |
|---|
| Date Published | Sept |
|---|
| Authors | Lee, J., D. Jin Hyun, J. Ahn, S. Kim, and N.. Hogan |
|---|
| Conference Name | Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on |
|---|
| Abstract | The MIT Cheetah demonstrated a stable 6 m/s trot gait in the sagittal plane utilizing the self-stable characteristics of locomotion. This paper presents a numerical analysis of the behavior of a quadruped robot model with the proposed controller. We first demonstrate the existence of periodic trot gaits at various speeds and examine local orbital stability of each trajectory using Poincaré map analysis. Beyond the local stability, we additionally demonstrate the stability of the model against large initial perturbations. Stability of trot gaits at a wide range of speed enables gradual acceleration demonstrated in this paper and a real machine. This simulation study also suggests the upper limit of the command speed that ensures stable steady-state running. As we increase the command speed, we observe series of period-doubling bifurcations, which suggests presence of chaotic dynamics beyond a certain level of command speed. Extension of this simulation analysis will provide useful guidelines for searching control parameters to further improve the system performance. |
|---|
| Keywords | Acceleration, Bifurcation, chaos, chaotic dynamics, command speed upper limit, Convergence, gait analysis, gradual acceleration, impedance control, legged locomotion, Limit-cycles, Mathematical model, numerical analysis, period-doubling bifurcations, periodic trot gaits, Poincare map analysis, Poincare mapping, quadruped robot model dynamics, robot dynamics, Robot kinematics, Robots, self-stabilizing high speed trot-running, stability, Stability analysis, trajectory control, trajectory orbital stability, trot gait stability, velocity control |
|---|
| DOI | 10.1109/IROS.2014.6943260 |
|---|
