0
TECHNICAL PAPERS

Path Tracking Based on Closed-Loop Control for a Quadruped Robot in a Cluttered Environment

[+] Author and Article Information
Xuedong Chen

Faculty of Engineering Systems and Technology, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga 840-8502, Japan

Keigo Watanabe, Kazuo Kiguchi

Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga 840-8502, Japan

Kiyotaka Izumi

Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, 1-Honjomachi, Saga 840-8502, Japan

J. Dyn. Sys., Meas., Control 124(2), 272-280 (May 10, 2002) (9 pages) doi:10.1115/1.1472460 History: Received June 05, 2000; Online May 10, 2002
Copyright © 2002 by ASME
Topics: Robots
Your Session has timed out. Please sign back in to continue.

References

Hashimoto, M., Suizu, N., Fujiwara, I., and Oba, F., 1999, “Path Tracking Control of a Non-Holonomic Modular Omnidirectional Vehicle,” Procs. of 1999 IEEE Int. Conf. on Systems, Man and Cybernetics, Vol. VI, pp. 637–642.
Lee, T. C., Song, K. T., Lee, C. H., and Teng, C. C., 1999, “Tracking Control of Mobile Robots Using Saturation Feedback Controller,” Proc. of the 1999 IEEE Int. Conf. on Robotics and Automation, pp. 2639–2644.
Kurazume,  R., and Hirose,  S., 2000, “An Experimental Study of a Cooperative Positioning System,” Autonomous Robots, 8, pp. 43–52.
Clerentin, A., Delahoche, L., Pegard, C., and Brassart, E., 2000, “A Localization Method Based on Two Omnidirectional Perception Systems Cooperation,” Proc. of the 2000 IEEE Int. Conf. on Robotics and Automation, pp. 1219–1224.
Sukhatme,  G. S., 1997, “The Design and Control of a Prototype Quadruped Microrover,” Autonomous Robots, 4, pp. 211–220.
Lee,  J., and Song,  S., 1991, “Path Planning and Gait of Walking Machines in an Obstacle-Strewn Environment,” J. Rob. Syst., 8(6), pp. 801–827.
Hirose,  S., 1984, “A Study of Design and Control of a Quadruped Walking,” Int. J. Robot. Res., 3(2), pp. 113–133.
Pal,  P. K., and Jayarajan,  K., 1991, “Generation of Free Gait—A Graph Search Approach,” IEEE Trans. Rob. Autom., 7(3), pp. 299–305.
Sano,  A., Furusho,  J., and Ozeki,  S., 1991, “A Pace Gait of Quadruped Robot Based on the Control of Walking Cycle Using a Discrete-time Model,” J. of the Robotics Society of Japan, 9(7), pp. 865–876 (in Japanese).
Kimura,  H., Akiyama,  S., and Sakurama,  K., 1998, “Dynamic Walking on Irregular Terrain and Running on Flat Terrain of the Quadruped Using Neural Oscillator,” J. of the Robotics Society of Japan, 16(8), pp. 1138–1145 (in Japanese).
Kimura, H., and Fukuoka, Y., 2000, “Adaptive Dynamic Walking of the Quadruped on Irregular Terrain—autonomous adaptation using neural system model—,” Proc. of the 2000 IEEE Int. Conf. on Robotics and Automation, pp. 436–443.
Hugel, V., and Blazevic, P., 1999, “Towards Efficient Implementation of Quadruped Gaits with Duty Factor of 0.75,” Procs. of the 1999 IEEE Int. Conf. on Robotics and Automation, pp. 2360–2365.
Chen, X. D., Watanabe, K., and Izumi, K., 1999, “Kinematic Solution of a Quadruped Walking Robot—Posture Analysis of TITAN-VIII—,” Procs. of 14th IFAC World Congress, Vol. B, pp. 343–348.
Arikawa, K., and Hirose, S., 1996, “Development of Quadruped Walking Robot TITAN-VIII,” Procs. of the 1996 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 208–214.
Canny, J., and Donald, B., 1987, “Computational Geometric,” Proc. of the 3rd Annual Symp. on Computational Geometry, pp. 153–161.
Ma, C., Li, W., and Liu, L., 1996, “Mobile Robot Motion by Integration of Low-Level Behavior Control and High-Level Global Planning,” Procs. of the 1996 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 310–315.
Chen,  X. D., Watanabe,  K., Kiguchi,  K., and Izumi,  K., 2001, “Implementation of Omnidirectional Crawl for a Quadruped Robot,” Advanced Robotics, 15(2), pp. 169–190.
Chen,  X. D., Watanabe,  K., and Izumi,  K., 1999, “Joint Positions and Robot Stability of the Omnidirectional Crawling Quadruped Robot,” J. of Robotics and Mechatronics, 11(6), pp. 510–517.
Hirose,  S., Kikuchi,  H., and Umetani,  Y., 1984, “The Standard Circular Gait of the Quadruped Walking Vehicle,” J. of the Robotics Society of Japan, 2(6), pp. 545–556 (in Japanese).

Figures

Grahic Jump Location
Schematic drawing of the quadruped robot TITAN-VIII
Grahic Jump Location
Schematic drawing of leg mechanism of TITAN-VIII
Grahic Jump Location
Path planning of the robot in an obstacle-strewn environment
Grahic Jump Location
The mechanism of selecting the next turning-point
Grahic Jump Location
Schematic drawing of a generalized gait cycle of TITAN-VIII
Grahic Jump Location
Prototypical foot trajectory of the swing leg
Grahic Jump Location
Projection of the quadruped robot in its supporting surface
Grahic Jump Location
Robot localization of TITAN-VIII in the world reference frame
Grahic Jump Location
Photographs of the real crawl status
Grahic Jump Location
Experimental terrain and result
Grahic Jump Location
Block diagram of the path tracking control system

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In