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A Study of Trot Gait Control System of a Quadruped Robot Using IMU Sensor | IEEE Conference Publication | IEEE Xplore

A Study of Trot Gait Control System of a Quadruped Robot Using IMU Sensor


Abstract:

This paper describes a stable trot gait control system for a quadruped robot that enables faster walking with stability. Compared to other gait types, it is possible to w...Show More

Abstract:

This paper describes a stable trot gait control system for a quadruped robot that enables faster walking with stability. Compared to other gait types, it is possible to walk faster with relatively little energy expenditure, which means trot gait is suitable to control for the quadruped robot. However, trot gait does not prevent roll and pitch angle fluctuations, essentially, even when walking on flat terrain, because two legs temporarily support the robot body. Therefore, to suppress the effect of this fluctuation and stabilize the posture of the robot body, we proposed a trot gait control system using an IMU sensor and achieved faster walking without slipping. To confirm the validity of the proposed stable trot gait control system, we built a quadruped robot based on TurtleBot3 chassis and implement our system. To validate the system’s effectiveness, we carried out several experiments running on various types of terrain, including sloping terrain.
Date of Conference: 06-09 September 2022
Date Added to IEEE Xplore: 06 October 2022
ISBN Information:
Conference Location: Kumamoto, Japan

1. INTRODUCTION

One of the most popular mechanisms for autonomous mobile robots is the wheeled type, but quadruped robots are attracting attention in the field of autonomous mobility because of their great potential for applications in complex road environments such as outdoors [1]-[3]. The quadruped robot has a discrete landing point and can actively step over and avoid obstacles. In addition, it is not restricted in its lateral movement, which gives it a potential advantage over wheeled robots in faster movement in environments where it is difficult to maintain posture, such as rocky, sandy, or swampy terrain.

References

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