An Experimental Study of Quadruped Gallops

waldron， KennethOhio州立大学156,958 - 12美元。（三分之一的资金来自工程理事会的ECS部门）四足动物的模拟和实验研究这是一个为期三年的持续奖的第一年资助。该项目包括模拟、设计、建造和测试一个奔跑步态的有腿机器人。该项目将测试由作者和其他人开发的马术力学和控制理论模型。该项目将是首次尝试在真正的疾驰中操作人工机器，从而开辟新天地。其他新的研究方向将是对快速启动和停止以及间接突然变化的策略进行数值和实验研究。飞奔比之前四足机器人研究中使用的对称步态更复杂，因为它是单脚步态，双脚分别着地，而且它显然是不对称的。这种不对称是由足部推力引起的身体的俯仰和翻滚运动与足部落脚之间的弹道轨迹的非线性相互作用造成的。在硬件实现之前，需要在数值模拟中进行广泛的控制和稳定研究。同样的模拟和实验测试方法将被用于研究快速启动、停止和改变方向的策略。

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.