International Journal of Robotics Research
Proceedings of the workshop on "Locomotion Control in Legged Invertebrates" on Biological neural networks in invertebrate neuroethology and robotics
Walking: a complex behavior controlled by simple networks
Adaptive Behavior - Special issue on computational neuroethology
Biological Cybernetics - Special Issue: Dynamic Principles
Resonance tuning in a neuro-musculo-skeletal model of the forearm
Biological Cybernetics
Geometric Motion Planning Analysis for Two Classes of Underactuated Mechanical Systems
International Journal of Robotics Research
International Journal of Robotics Research
A dynamical systems approach to learning: a frequency-adaptive hopper robot
ECAL'05 Proceedings of the 8th European conference on Advances in Artificial Life
The Stanford LittleDog: A learning and rapid replanning approach to quadruped locomotion
International Journal of Robotics Research
CPG modulation for navigation and omnidirectional quadruped locomotion
Robotics and Autonomous Systems
Piecewise linear spine for speed-energy efficiency trade-off in quadruped robots
Robotics and Autonomous Systems
Hi-index | 0.00 |
In this contribution we present experiments of an adaptive locomotion controller on a compliant quadruped robot. The adaptive controller consists of adaptive frequency oscillators in different configurations and produces dynamic gaits such as bounding and jumping. We show two main results: (1) The adaptive controller is able to track the resonant frequency of the robot which is a function of different body parameters (2) controllers based on dynamical systems as we present are able to "recognize" mechanically intrinsic modes of locomotion, adapt to them and enforce them. More specifically the main results are supported by several experiments, showing first that the adaptive controller is constantly tracking body properties and readjusting to them. Second, that important gait parameters are dependent on the geometry and movement of the robot and the controller can account for that. Third, that local control is sufficient and the adaptive controller can adapt to the different mechanical modes. And finally, that key properties of the gaits are not only depending on properties of the body but also the actual mode of movement that the body is operating in. We show that even if we specify the gait pattern on the level of the CPG the chosen gait pattern does not necessarily correspond to the CPG's pattern. Furthermore, we present the analytical treatment of adaptive frequency oscillators in closed feedback loops, and compare the results to the data from the robot experiments.