Path tracking based on closed-loop control for a quadruped robot in a cluttered environment

Xuedong Chen, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi

Research output: Contribution to journalArticle

19 Citations (Scopus)

Abstract

In this paper, the path tracking control is studied for a quadruped robot, named TITAN-VIII, walking in a cluttered environment. A simple and efficient algorithm of path planning is proposed, which is characterized by finding turning-point in the walking environment for the robot. The generalized gait algorithm based on the static stability is presented for the continuous and omnidirectional crawl of the robot. Especially, the real-time robot localization in the walking environment, which is the key to the settlement of the path tracking control, is realized by dead-reckoning for the quadruped robot. Based on the above work, we design the closed-loop control architecture so that the robot is able to track the desired path in an obstacle-strewn environment. The reliability and effectiveness of the proposed method is demonstrated through the experimental results.

Original languageEnglish
Pages (from-to)272-280
Number of pages9
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volume124
Issue number2
DOIs
Publication statusPublished - Jun 1 2002
Externally publishedYes

Keywords

  • Gait algorithm
  • Path planning
  • Path tracking
  • Quadruped robot
  • Robot localization

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Mechanical Engineering
  • Computer Science Applications

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