University of Twente Student Theses


Modeling and gait control of a quadruped robot

Loon, Sebastiaan van (2005) Modeling and gait control of a quadruped robot.

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Abstract:Generating dynamically stable gaits for legged robots is still a challenging task. Walking quadruped robots can easily stand in a stable position, the difficulty lies within the walking algorithm. Four legged animals have different gaits for different speeds, e.g. crawl, trot, pace and gallop. The generation of fast and stable walking motions requires algorithms that can take into account the dynamical effects and stability issues. A dynamical model of a quadruped robot can be used for generating new motions, with advanced algorithms, e.g. reinforcement learning or evolutionary algorithms. In this project a multi-body dynamical model is designed of the four legged robot from Sony, the ERS-7 Aibo. Several dynamical parameters were not publicly available and had to be estimated. The implemented model was compared with the real robot, using a stable walking gait. The result shows that the model represents the real robot gait accurately.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering MSc (60353)
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