skip to content
Intelligent control and force redistribution for a high-speed quadruped trot Preview this item
ClosePreview this item
Checking...

Intelligent control and force redistribution for a high-speed quadruped trot

Author: Luther R Palmer
Publisher: Columbus, Ohio : Ohio State University, 2007.
Dissertation: Ph. D. Ohio State University 2007
Edition/Format:   Thesis/dissertation : Document : Thesis/dissertation : eBook   Computer File : English
Summary:
Abstract: Aside from trying to mimic the small yet powerful actuators and sensing systems that animals employ while running, understanding and implementing the control mechanisms that animals use to robustly negotiate uneven terrain at high speeds remains an unsolved problem. The objective of this dissertation is to make a significant contribution toward the development of a controller for the high-speed quadruped  Read more...
Rating:

(not yet rated) 0 with reviews - Be the first.

Subjects
More like this

Find a copy online

Links to this item

Find a copy in the library

&AllPage.SpinnerRetrieving; Finding libraries that hold this item...

Details

Genre/Form: Academic theses
Material Type: Document, Thesis/dissertation, Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: Luther R Palmer
OCLC Number: 145747560
Notes: Title from first page of PDF file.
Description: 1 online resource (xvi, 153 pages)
Responsibility: by Luther R. Palmer III.

Abstract:

Abstract: Aside from trying to mimic the small yet powerful actuators and sensing systems that animals employ while running, understanding and implementing the control mechanisms that animals use to robustly negotiate uneven terrain at high speeds remains an unsolved problem. The objective of this dissertation is to make a significant contribution toward the development of a controller for the high-speed quadruped trot over uneven terrain. The trot was chosen because of its energy efficiency over a wide range of running speeds and its widespread use in nature. To this end, this dissertation 1) presents a fuzzy control strategy that manages the complex coupling between system inputs and body state to successfully track forward velocity and heading in a trot at high speeds and over uneven terrain, and 2) introduces a method for redistributing the leg forces during the support period to stabilize the body's tilt motion without overpowering or significantly disturbing the passive dynamics of a biomimetic trot. The controller stabilizes a 3D trot in simulation at 5.25 m/s, which is above the target speed of 3.90 m/s at which an animal of its mass would be expected to transition to its higher-speed gait, the gallop. The preferred trotting speed of a quadruped with this mass is 2.85 m/s. The quadruped can turn at 30 deg/s when running at this speed, and can maneuver over uneven terrain at 4.25 m/s. This work resulted in the first published report of quadruped heading control when running at such high speeds and is the first reported control of high-speed running over uneven terrain. The controller incorporates principles of the SLIP (spring-loaded inverted pendulum) model and the idea that animals redistribute vertical impulses during stance to stabilize pitch. The SLIP model is a simple spring-mass system that produces behavior similar to that observed in four-legged trotters and two-legged runners. Force redistribution is the process of altering the large leg forces that naturally occur during running to control selected body motions without significantly affecting others.

Reviews

User-contributed reviews
Retrieving GoodReads reviews...
Retrieving DOGObooks reviews...

Tags

Be the first.
Confirm this request

You may have already requested this item. Please select Ok if you would like to proceed with this request anyway.

Linked Data


Primary Entity

<http://www.worldcat.org/oclc/145747560> # Intelligent control and force redistribution for a high-speed quadruped trot
    a schema:MediaObject, schema:CreativeWork, pto:Web_document, schema:Book, bgn:Thesis ;
    bgn:inSupportOf "" ;
    library:oclcnum "145747560" ;
    library:placeOfPublication <http://experiment.worldcat.org/entity/work/data/103515627#Place/columbus_ohio> ; # Columbus, Ohio
    library:placeOfPublication <http://id.loc.gov/vocabulary/countries/ohu> ;
    schema:about <http://id.worldcat.org/fast/1099061> ; # Robots--Motion
    schema:about <http://id.loc.gov/authorities/subjects/sh89001406> ; # Robots--Control systems
    schema:about <http://id.worldcat.org/fast/1024301> ; # Mobile robots
    schema:about <http://experiment.worldcat.org/entity/work/data/103515627#Thing/legged_locomotion> ; # Legged locomotion
    schema:about <http://id.worldcat.org/fast/1099044> ; # Robots--Control systems
    schema:about <http://id.worldcat.org/fast/936814> ; # Fuzzy systems
    schema:about <http://experiment.worldcat.org/entity/work/data/103515627#Thing/fuzzy_control> ; # Fuzzy control
    schema:about <http://experiment.worldcat.org/entity/work/data/103515627#Thing/quadruped> ; # Quadruped
    schema:about <http://experiment.worldcat.org/entity/work/data/103515627#Thing/trot> ; # Trot
    schema:about <http://id.loc.gov/authorities/subjects/sh86005656> ; # Robots--Motion
    schema:about <http://experiment.worldcat.org/entity/work/data/103515627#Thing/force_redistribution> ; # Force redistribution
    schema:creator <http://experiment.worldcat.org/entity/work/data/103515627#Person/palmer_luther_r> ; # Luther R. Palmer
    schema:datePublished "2007" ;
    schema:description "Abstract: Aside from trying to mimic the small yet powerful actuators and sensing systems that animals employ while running, understanding and implementing the control mechanisms that animals use to robustly negotiate uneven terrain at high speeds remains an unsolved problem. The objective of this dissertation is to make a significant contribution toward the development of a controller for the high-speed quadruped trot over uneven terrain. The trot was chosen because of its energy efficiency over a wide range of running speeds and its widespread use in nature. To this end, this dissertation 1) presents a fuzzy control strategy that manages the complex coupling between system inputs and body state to successfully track forward velocity and heading in a trot at high speeds and over uneven terrain, and 2) introduces a method for redistributing the leg forces during the support period to stabilize the body's tilt motion without overpowering or significantly disturbing the passive dynamics of a biomimetic trot. The controller stabilizes a 3D trot in simulation at 5.25 m/s, which is above the target speed of 3.90 m/s at which an animal of its mass would be expected to transition to its higher-speed gait, the gallop. The preferred trotting speed of a quadruped with this mass is 2.85 m/s. The quadruped can turn at 30 deg/s when running at this speed, and can maneuver over uneven terrain at 4.25 m/s. This work resulted in the first published report of quadruped heading control when running at such high speeds and is the first reported control of high-speed running over uneven terrain. The controller incorporates principles of the SLIP (spring-loaded inverted pendulum) model and the idea that animals redistribute vertical impulses during stance to stabilize pitch. The SLIP model is a simple spring-mass system that produces behavior similar to that observed in four-legged trotters and two-legged runners. Force redistribution is the process of altering the large leg forces that naturally occur during running to control selected body motions without significantly affecting others."@en ;
    schema:exampleOfWork <http://worldcat.org/entity/work/id/103515627> ;
    schema:genre "Academic theses"@en ;
    schema:inLanguage "en" ;
    schema:name "Intelligent control and force redistribution for a high-speed quadruped trot"@en ;
    schema:productID "145747560" ;
    schema:publication <http://www.worldcat.org/title/-/oclc/145747560#PublicationEvent/columbus_ohio_ohio_state_university_2007> ;
    schema:publisher <http://experiment.worldcat.org/entity/work/data/103515627#Agent/ohio_state_university> ; # Ohio State University
    schema:url <http://rave.ohiolink.edu/etdc/view?acc_num=osu1174570965> ;
    wdrs:describedby <http://www.worldcat.org/title/-/oclc/145747560> ;
    .


Related Entities

<http://experiment.worldcat.org/entity/work/data/103515627#Agent/ohio_state_university> # Ohio State University
    a bgn:Agent ;
    schema:name "Ohio State University" ;
    .

<http://experiment.worldcat.org/entity/work/data/103515627#Person/palmer_luther_r> # Luther R. Palmer
    a schema:Person ;
    schema:familyName "Palmer" ;
    schema:givenName "Luther R." ;
    schema:name "Luther R. Palmer" ;
    .

<http://experiment.worldcat.org/entity/work/data/103515627#Place/columbus_ohio> # Columbus, Ohio
    a schema:Place ;
    schema:name "Columbus, Ohio" ;
    .

<http://experiment.worldcat.org/entity/work/data/103515627#Thing/force_redistribution> # Force redistribution
    a schema:Thing ;
    schema:name "Force redistribution" ;
    .

<http://experiment.worldcat.org/entity/work/data/103515627#Thing/legged_locomotion> # Legged locomotion
    a schema:Thing ;
    schema:name "Legged locomotion" ;
    .

<http://id.loc.gov/authorities/subjects/sh86005656> # Robots--Motion
    a schema:Intangible ;
    schema:name "Robots--Motion"@en ;
    .

<http://id.loc.gov/authorities/subjects/sh89001406> # Robots--Control systems
    a schema:Intangible ;
    schema:name "Robots--Control systems"@en ;
    .

<http://id.worldcat.org/fast/1024301> # Mobile robots
    a schema:Intangible ;
    schema:name "Mobile robots"@en ;
    .

<http://id.worldcat.org/fast/1099044> # Robots--Control systems
    a schema:Intangible ;
    schema:name "Robots--Control systems"@en ;
    .

<http://id.worldcat.org/fast/1099061> # Robots--Motion
    a schema:Intangible ;
    schema:name "Robots--Motion"@en ;
    .

<http://id.worldcat.org/fast/936814> # Fuzzy systems
    a schema:Intangible ;
    schema:name "Fuzzy systems"@en ;
    .

<http://www.worldcat.org/title/-/oclc/145747560>
    a genont:InformationResource, genont:ContentTypeGenericResource ;
    schema:about <http://www.worldcat.org/oclc/145747560> ; # Intelligent control and force redistribution for a high-speed quadruped trot
    schema:dateModified "2019-09-21" ;
    void:inDataset <http://purl.oclc.org/dataset/WorldCat> ;
    .


Content-negotiable representations

Close Window

Please sign in to WorldCat 

Don't have an account? You can easily create a free account.