Toward Combining Speed, Efficiency, Versatility, and Robustness in an Autonomous Quadruped
Toward Combining Speed, Efficiency, Versatility, and Robustness in an Autonomous Quadruped
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DOI：
10.1109/tro.2014.2360493
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发表时间：
2014-12-01
影响因子：
7.8
通讯作者：
Siegwart, Roland
中科院分区：
文献类型：
--
作者：
Hutter, Marco;Gehring, Christian;Siegwart, Roland
本文概述了StarlETH：一种兼容的四足机器人，旨在研究快速，高效，通用和稳健的运动。该平台采用高度柔顺的串联弹性作动器驱动，使系统具有完全的扭矩可控、能量高效、适合动态机动的特点。使用基于模型的控制策略，这种中型狗大小的机器能够在具有挑战性的地形上从静态行走到动态奔跑的各种步态。StarlETH配备了机载PC、电池和各种传感器设备，可以实现持久的自主运行。在本文中，我们概述了潜在的运动控制算法，概述了实时控制和仿真环境，并通过一系列实验来证明所提出的硬件和控制器的性能。
This paper provides an overview about StarlETH: a compliant quadrupedal robot that is designed to study fast, efficient, versatile, and robust locomotion. The platform is driven by highly compliant series elastic actuation, which makes the system fully torque controllable, energetically efficient, and well suited for dynamic maneuvers. Using model-based control strategies, this medium dog-sized machine is capable of various gaits ranging from static walking to dynamic running over challenging terrain. StarlETH is equipped with an onboard PC, batteries, and various sensor equipment that enables enduring autonomous operation. In this paper, we provide an overview about the underlying locomotion control algorithms, outline a real-time control and simulation environment, and conclude the work with a number of experiments to demonstrate the performance of the presented hardware and controllers.