Krishna, P Murali and Kumar, R Prasanth
(2019)
Passive Dynamic Bounding Control using Symmetry Condition
Control Laws.
IJSRSET, 6.
pp. 451-457.
ISSN 2394-4099
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Abstract
Legged locomotion is preferred over the wheeled locomotion as it can be used both for flat and rough terrains.
Quadruped robots are preferred since they can offer better stability with considerable reliability. In recent
years, passive dynamics has been used to obtain near zero-energy bounding gaits. Although theoretically such
gaits consume no energy, in practice some additional energy is required to overcome losses. Existence and
stability of such gaits have been thoroughly studied in literature for quadruped models with the assumption
that the mass distribution and stiffness in the front and back legs are symmetric. Fixed points found using
Poincare map indicate touchdown angle-liftoff angle symmetry between front and back legs. This property can
be used to search for fixed points with ease. However, the range of initial conditions where the bounding gait is
stable is highly limited. Control laws based on symmetry conditions observed are proposed in this paper to
improve the stability region. One such control law based on body-fixed touchdown angles theoretically allows
redesign of quadruped robot with physical cross coupling between legs to achieve inherent stability without leg
actuation.
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