NDLI: A control architecture for quadruped locomotion over rough terrain

Content Provider	IEEE Xplore Digital Library
Author	Kolter, J.Z. Rodgers, M.P. Ng, A.Y.
Copyright Year	2008
Description	Author affiliation: Comput. Sci. Dept., Stanford Univ., Stanford, CA (Kolter, J.Z.; Rodgers, M.P.; Ng, A.Y.)
Abstract	Legged robots have the potential to navigate a much larger variety of terrain than their wheeled counterparts. In this paper we present a hierarchical control architecture that enables a quadruped, the "LittleDog" robot, to walk over rough terrain. The controller consists of a high-level planner that plans a set of footsteps across the terrain, a low-level planner that plans trajectories for the robot's feet and center of gravity (COG), and a low-level controller that tracks these desired trajectories using a set of closed-loop mechanisms. We conduct extensive experiments to verify that the controller is able to robustly cross a wide variety of challenging terrains, climbing over obstacles nearly as tall as the robot's legs. In addition, we highlight several elements of the controller that we found to be particularly crucial for robust locomotion, and which are applicable to quadruped robots in general. In such cases we conduct empirical evaluations to test the usefulness of these elements.
Starting Page	811
Ending Page	818
File Size	905356
Page Count	8
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543305
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Mobile robots Navigation Leg Control systems Trajectory Robust control Robotics and automation Computer architecture Gravity
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

A Robust Quadruped Walking Gait for Traversing Rough Terrain

Fast, robust quadruped locomotion over challenging terrain

Dynamically diverse legged locomotion for rough terrain

Stereo vision and terrain modeling for quadruped robots

Mobility reconfiguration for terrain exploration using passive perception

Control of hopping speed and height over unknown rough terrain using a single actuator

Stability of a trotting quadruped robot with passive, underactuated legs

An optimization approach to rough terrain locomotion

Demonstration of quadrupedal locomotion over rough terrain using the littledog robot

A control architecture for quadruped locomotion over rough terrain

Similar Documents

A Robust Quadruped Walking Gait for Traversing Rough Terrain

Fast, robust quadruped locomotion over challenging terrain

Dynamically diverse legged locomotion for rough terrain

Stereo vision and terrain modeling for quadruped robots

Mobility reconfiguration for terrain exploration using passive perception

Control of hopping speed and height over unknown rough terrain using a single actuator

Stability of a trotting quadruped robot with passive, underactuated legs

An optimization approach to rough terrain locomotion

Demonstration of quadrupedal locomotion over rough terrain using the littledog robot

A control architecture for quadruped locomotion over rough terrain