Rolling Locomotion Control of a Biologically Inspired Quadruped Robot Based on Energy Compensation

<div>Rotational angles of the legs (<svg height="14.8173pt" id="M216" style="vertical-align:-5.52897pt" version="1.1" viewbox="-0.0498162 -9.28833 12.3324 14.8173" width="12.3324pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M475 507C475 612 440 712 326 712C139 712 23 420 23 215C23 96 58 -12 180 -12C369 -12 475 293 475 507ZM391 522C391 486 387 448 379 394H126C155 538 222 677 310 677C386 677 391 571 391 522ZM373 346C344 193 283 22 189 22C126 22 106 114 106 196C106 243 111 293 118 346H373Z" id="g113-230"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="498" vert-adv-y="498"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,6.149,3.132)"><path d="M238 675C244 702 241 710 231 710C220 710 155 682 74 673L70 643H101C147 643 151 635 142 594L39 111C18 11 36 -12 55 -12C89 -12 170 38 223 103L207 129C176 98 130 68 118 68C113 68 108 72 114 102L238 675Z" id="g50-109"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="271" vert-adv-y="271"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,7.776,3.132)"><path d="M400 606C400 634 383 656 353 656C316 656 294 620 294 593C294 564 317 545 343 545C375 545 400 573 400 606ZM366 351C379 413 381 451 356 451C323 451 251 408 183 341L199 313C223 335 267 365 277 365C285 365 284 354 277 312C245 132 222 27 193 -100C182 -148 160 -188 131 -188C113 -188 90 -178 75 -170C64 -164 55 -168 48 -175C38 -185 24 -203 24 -222S48 -257 71 -257C89 -257 131 -241 186 -192C243 -141 286 -46 310 74L366 351Z" id="g50-107"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="430" vert-adv-y="430"></glyph.data></g></svg>: leg <svg height="12.0653pt" id="M217" style="vertical-align:-3.4294pt" version="1.1" viewbox="-0.0498162 -8.6359 5.61923 12.0653" width="5.61923pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M394 607C394 634 378 655 350 655C315 655 294 620 294 594C294 564 314 546 339 546C372 546 394 574 394 607ZM360 349C373 414 374 448 351 448C321 448 249 404 183 338L197 313C223 336 265 367 276 367C285 367 283 355 275 313C241 129 220 23 189 -102C175 -158 153 -197 124 -197C106 -197 85 -187 70 -177C64 -173 51 -177 44 -183C34 -193 23 -209 23 -228C23 -244 46 -261 67 -261C86 -261 127 -245 181 -197C237 -147 279 -52 303 66L360 349Z" id="g113-107"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="423" vert-adv-y="423"></glyph.data></g></svg>). The quadruped robot moves the supporting leg in the negative direction immediately before switching the supporting leg to increase the robot’s kinetic energy. The legs return to its initial position immediately after that.</div>

Journal of Robotics

fig9

Figure 9

Figure 9: Rolling Locomotion Control of a Biologically Inspired Quadruped Robot Based on Energy Compensation 