An Experimental Study of Quadruped Gallops

摘要IIS-9907121 Waldron，俄亥俄州州立大学$156，958 - 12个月。（三分之一的资金来自工程局ECS部门）四足动物的模拟和实验研究这是一个为期三年的连续奖励的第一年资助。该项目包括模拟，设计，建造和测试的腿式机器人在飞奔步态。该项目将测试由作者和其他人开发的舞动力学和控制的理论模型。该项目将开辟新的天地，成为第一次尝试操作一个真正的疾驰人造机器。新的出发点将是快速启动和停止以及方向突然变化的策略的数值和实验研究。奔马比以前的四足机器人研究中使用的对称步态更复杂，因为它是一种单足步态，脚分别着地，而且它明显不对称。这种不对称性是由两足之间的身体弹道轨迹的非线性相互作用以及由离轴足推力引起的身体的俯仰和滚转运动引起的。舞动的控制和稳定将在硬件实现之前进行广泛的数值模拟研究。同样的模拟方法，然后进行实验测试，将用于研究快速启动，停止和方向变化的策略。

Abstract IIS-9907121Waldron, KennethOhio State University $156,958 - 12 mos. (1/3 of funding is from ECS division of Engineering Directorate)A Study of Quadruped Gallops by Simulation and ExperimentationThis is the first year funding of a three year continuing award. Theproposed project includes simulation, design, construction and testingof a legged robot in gallop gaits. The project will test theoreticalmodels of the mechanics and control of galloping developed by theauthors and others. The project will break new ground by being thefirst attempt to operate an artificial machine in a true gallop. Othernew departures will be numerical and experimental investigation ofstrategies for rapid starts and stops, and for sudden changes indirection. A gallop is more complex than the symmetric gaits used inprevious running quadrupedal robot studies because it is a single-footgait with the feet touching down individually, and because it isobviously asymmetric. The asymmetry results from the non-linearinteraction of the ballistic trajectories of the body between footfallsand the pitch and roll movements of the body resulting from off-axisfoot thrusts. Control and stabilization of galloping will beextensively studied in numerical simulation before implementation inhardware. The same approach of simulation followed by experimentaltesting will be used to study strategies for rapid starts, stops andchanges of direction.