Sky-Hook Suspension Control of a Quadruped Walking Vehicle.

DOI DOI 20 Citations Open Access

Bibliographic Information

Other Title
  • ４足歩行機械のスカイフックサスペンション制御

Description

This paper discusses foot force control of a quadruped walking vehicle on rough terrain. The proposed control algorithm has two parts. One is a feed-forward control to produce a smooth touch-down and lift-up motion of the leg. The other part is a feedback control to maintain the body's posture under the conditions of some disturbances.<BR>A command force of the feed forward control is calculated beforehand from the data of the body's position, its acceleration and leg positions. The force increases smoothly from zero after touch-down on the ground, and it decreases smoothly to zero before lift-up.<BR>On the other hand, a command force of the feedback control is calculated from the data of the body's posture measured by gyroscopes. The effect of the feedback control is as if the body is suspended to an absolute frame by springs and dampers. Therefore, it is called“Sky-Hook Suspension”.<BR>By this control algorithm, the experimental vehicle TITAN VI is able to walk smoothly on a rough terrain.

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Details 詳細情報について

  • CRID
    1390001204727112576
  • NII Article ID
    130000842373
  • DOI
    10.7210/jrsj.12.1066
    10.1109/robot.1994.351247
  • ISSN
    18847145
    02891824
    http://id.crossref.org/issn/02891824
  • Text Lang
    ja
  • Data Source
    • JaLC
    • Crossref
    • CiNii Articles
    • OpenAIRE
  • Abstract License Flag
    Disallowed

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