AbstractsComputer Science

Elements of Control for a Quadruped Robot

by Alexander Graber-Tilton

Institution: Case Western Reserve University
Year: 2016
Keywords: Mechanical Engineering; Robotics; Robotics; Quadruped; Zero Moment Line; Zero Moment Point; ZML; ZMP; Control
Posted: 02/05/2017
Record ID: 2078205
Full text PDF: http://rave.ohiolink.edu/etdc/view?acc_num=case1453465054


Repairs and redesigns of components were done on the quadruped robot “Puppy” in order to bring it back into working order. A control system was derived from Cruse's method for a cat as well as LegConNet, which was derived from insects, and was initially tested using simulation. The control system was implemented on “Puppy” using a low-level custom controller board that I helped to design. Experiments showed robust air-walking gaits even in response to disturbances. However, difficulty in tuning parameters stymied attempts at ground walking in simulation and on the physical robot.The concept of a Zero-Moment Line (ZML) is also introduced, which is a 3D expansion on the Zero-Moment Point. The Zero-Moment Line is used as part of the control for a different quadruped robot in simulation. The ZML quadruped was tested on three types of terrain of increasing complexity, with the control displaying stability despite non-planar contact points. Advisors/Committee Members: Quinn, Roger D. (Advisor).