A gait pattern generator for closed-loop position control of a soft walking robot

Media type: E-Article

Title: A gait pattern generator for closed-loop position control of a soft walking robot

Contributor: Schiller, Lars [Author]; Seibel, Arthur [Author]; Schlattmann, Josef [Author]

Corporation: Technische Universität Hamburg ; Technische Universität Hamburg, Institut für Laser- und Anlagensystemtechnik ; Technische Universität Hamburg, Arbeitsbereich Anlagensystemtechnik und Methodische Produktentwicklung

Published: 2020

Language: English

DOI: 10.15480/882.2966; 10.3389/frobt.2020.00087

Identifier:

Keywords: closed-loop position control ; gait pattern generator ; gecko-inspired soft robot ; locomotion controller ; mobile robotics

Origination:

Footnote: Sonstige Körperschaft: Technische Universität Hamburg
Sonstige Körperschaft: Technische Universität Hamburg, Institut für Laser- und Anlagensystemtechnik
Sonstige Körperschaft: Technische Universität Hamburg, Arbeitsbereich Anlagensystemtechnik und Methodische Produktentwicklung

Description: This paper presents an approach to control the position of a gecko-inspired soft robot in Cartesian space. By formulating constraints under the assumption of constant curvature, the joint space of the robot is reduced in its dimension from nine to two. The remaining two generalized coordinates describe respectively the walking speed and the rotational speed of the robot and define the so-called velocity space. By means of simulations and experimental validation, the direct kinematics of the entire velocity space (mapping in Cartesian task space) is approximated by a bivariate polynomial. Based on this, an optimization problem is formulated that recursively generates the optimal references to reach a given target position in task space. Finally, we show in simulation and experiment that the robot can master arbitrary obstacle courses by making use of this gait pattern generator.

Access State: Open Access

Rights information: Attribution (CC BY)

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