Portable autonomous walk calibration for 4-legged robots

Authors:
Boyan Bonev;Miguel Cazorla;Francisco Martín;Vicente Matellán
Affiliations:
Dpto. de Ciencia de la Computación e Inteligencia Artificial, Universidad de Alicante, Alicante, Spain 03080;Dpto. de Ciencia de la Computación e Inteligencia Artificial, Universidad de Alicante, Alicante, Spain 03080;Dpto. de Ingeniería Temática y Tecnología Electrónica, Universidad Rey Juan Carlos, Madrid, Spain 28933;Dpto. de Ingenierías Mecánica, Informáticaa y Aeroespacial, Universidad de León, León, Spain
Venue:
Applied Intelligence
Year:
2012

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Abstract

In the present paper we describe an efficient and portable optimization method for calibrating the walk parameters of a quadruped robot, and its contribution for the robot control and localization. The locomotion of a legged robot presents not only the problem of maximizing the speed, but also the problem of obtaining a precise speed response, and achieving an acceptable odometry information. In this study we use a simulated annealing algorithm for calibrating different parametric sets for different speed ranges, with the goal of avoiding discontinuities. The results are applied to the robot AIBO in the RoboCup domain. Moreover, we outline the relevance of calibration to the control, showing the improvement obtained in odometry and, as a consequence, in robot localization.