An Experimental Study of Quadruped Gallops

摘要IIS-9907121 Waldron，肯尼迪俄亥俄州立大学，156,958-12个月。(1/3的资金来自ECS工程局分部)四足马的模拟和实验研究这是连续三年的奖项的第一年资助。该项目包括腿机器人的仿真、设计、建造和测试。该项目将测试作者和其他人开发的驰骋力学和控制理论模型。该项目将是第一次尝试以真正的速度操作人造机器，从而开辟了新的天地。另一项新举措将是对快速启动和停止以及间接突变的策略进行数值和实验研究。与之前研究跑步的四足机器人中使用的对称步态相比，疾驰步态要复杂得多，因为它是一种单脚单独着地的步态，而且它明显是不对称的。这种不对称性是由于身体的弹道轨迹与身体的俯仰和侧滚运动之间的非线性相互作用造成的，这些运动是由离轴脚的冲刺引起的。在硬件实现之前，舞动的控制和稳定将在数值模拟中得到广泛的研究。同样的模拟和实验测试的方法将被用来研究快速启动、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.