Accession Number : ADA310557

Title :   Coupled Oscillator Control of a Dynamic Four-Legged Robot.

Descriptive Note : Annual rept. 15 Jan-15 Aug 95,

Corporate Author : BOSTON UNIV MA DEPT OF AEROSPACE ENGINEERING

Personal Author(s) : Berkemeier, Matthew D.

PDF Url : ADA310557

Report Date : 14 AUG 1995

Pagination or Media Count : 53

Abstract : This report documents progress on a dynamic four-legged robot. After the first seven months of support, we have accomplished the following: (1) We have shown analytically that a platform supported by four springy legs and actuated according to a specific 'reflex function' will tend toward motions corresponding to four-legged animal gaits, specifically, the pronk, bound, pace, and rotary gallop. This should greatly simplify legged robot control since the implication is that it is not necessary to pre-program desired behavior such as leg sequences for different gaits. We believe this may also help explain why running animals have chosen particular gaits. (2) We have designed and constructed a leg for our quadrupedal robot which utilizes elastic energy storage to provide most of the force for vertical oscillations. This leg is 'biologically-styled' in that elastic tendons drive a rotating foot. Preliminary experimental results have been favorable, and with minor mechanical improvements, we expect to have the leg hopping. Our design was inspired by four-legged animal legs and will give us the opportunity to compare a man-made and biological system at a fairly good level of detail.

Descriptors :   *COUPLING(INTERACTION), *OSCILLATORS, *ROBOTS, CONTROL, BIOLOGY, ELASTIC PROPERTIES, VERTICAL ORIENTATION, DRIVES, ANIMALS, OSCILLATION, ROTATION, FEET, REFLEXES, LEGS.

Subject Categories : Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE