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Central pattern generators augmented with virtual model control for quadruped rough terrain locomotion

2013

Conference Paper

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We present a modular controller for quadruped locomotion over unperceived rough terrain. Our approach is based on a computational Central Pattern Generator (CPG) model implemented as coupled nonlinear oscillators. Stumbling correction reflex is implemented as a sensory feedback mechanism affecting the CPG. We augment the outputs of the CPG with virtual model control torques responsible for posture control. The control strategy is validated on a 3D forward dynamics simulated quadruped robot platform of about the size and weight of a cat. To demonstrate the capabilities of the proposed approach, we perform locomotion over unperceived uneven terrain and slopes, as well as situations facing external pushes.

Author(s): Ajallooeian, Mostafa and Pouya, Soha and Spröwitz, Alexander and Ijspeert, Auke J
Book Title: Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA)
Pages: 3321--3328
Year: 2013
Publisher: IEEE

Department(s): Dynamische Lokomotion
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1109/ICRA.2013.6631040

Address: Karlsruhe
ISBN: 978-1-4673-5643-5

BibTex

@inproceedings{ajallooeian2013central,
  title = {Central pattern generators augmented with virtual model control for quadruped rough terrain locomotion},
  author = {Ajallooeian, Mostafa and Pouya, Soha and Spr{\"o}witz, Alexander and Ijspeert, Auke J},
  booktitle = {Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {3321--3328},
  publisher = {IEEE},
  address = {Karlsruhe},
  year = {2013}
}