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Communication Dans Un Congrès Année : 2003

A semi quadruped walking robot - first experimental results

Résumé

SemiQuad is walking robot prototype with a platform and two two-link legs. Thus, it is five-link mechanism. Front leg models identical motions of two quadruped's front legs, rear leg models identical motions of two quadruped's rear legs. We call this robot also as “virtual” quadruped. The mechanism is driven by four DC motors. Its control system comprises a computer, hardware servo-systems and power amplifiers. The locomotion of the prototype is planar curvet gait. In the double support our prototype is statically stable mechanism. In the single support it is unstable and under actuated system. There is no fly phase. We describe here the scheme of the mechanism, the characteristics of the drives and the control strategy. The dynamic model of the planar walking is recalled for the double and single support phases. The designed control strategy overcomes the difficulties appeared due to unstable and under actuated motion in the single support. In the first experiments, the designed algorithm was successfully implemented.
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Dates et versions

hal-00362673 , version 1 (04-03-2009)

Identifiants

  • HAL Id : hal-00362673 , version 1

Citer

Yannick Aoustin, Serge Bellavoir, Gaël Branchu, Christine Chevallereau, Alexander Formal'Sky, et al.. A semi quadruped walking robot - first experimental results. 6th International Conference on Climbing and Walking Robots CLAWAR'03, Sep 2003, Catania, Italy. pp. 579-584. ⟨hal-00362673⟩
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