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Elements of Control for a Quadruped Robot

Graber-Tilton, Alexander
http://rave.ohiolink.edu/etdc/view?acc_num=case1453465054

Abstract Details

2016, Master of Sciences (Engineering), Case Western Reserve University, EMC - Mechanical Engineering.
Repairs and redesigns of components were done on the quadruped robot “Puppy” in order to bring it back into working order. A control system was derived from Cruse's method for a cat as well as LegConNet, which was derived from insects, and was initially tested using simulation. The control system was implemented on “Puppy” using a low-level custom controller board that I helped to design. Experiments showed robust air-walking gaits even in response to disturbances. However, difficulty in tuning parameters stymied attempts at ground walking in simulation and on the physical robot. The concept of a Zero-Moment Line (ZML) is also introduced, which is a 3D expansion on the Zero-Moment Point. The Zero-Moment Line is used as part of the control for a different quadruped robot in simulation. The ZML quadruped was tested on three types of terrain of increasing complexity, with the control displaying stability despite non-planar contact points.
Roger D. Quinn (Advisor)
Richard J. Bachmann (Committee Member)
Gregory S. Lee (Committee Member)
85 p.
Mechanical Engineering; Robotics
Robotics; Quadruped; Zero Moment Line; Zero Moment Point; ZML; ZMP; Control

Recommended Citations

Citations

  • Graber-Tilton, A. (2016). Elements of Control for a Quadruped Robot [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1453465054

    APA Style (7th edition)

  • Graber-Tilton, Alexander. Elements of Control for a Quadruped Robot. 2016. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1453465054.

    MLA Style (8th edition)

  • Graber-Tilton, Alexander. "Elements of Control for a Quadruped Robot." Master's thesis, Case Western Reserve University, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=case1453465054

    Chicago Manual of Style (17th edition)

case1453465054
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This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.