Online generation of trajectories in robots is a very complex task that involves the combination of different types of movements, i.e., distinct motor primitives. The later are used to model complex behaviors in robots, such as locomotion in irregular terrain and obstacle avoidance. In this paper, we consider two motor primitives: rhythmic and discrete. We study the effect on the robots’ gaits of superimposing the two motor primitives, considering two distinct types of coupling. Additionally, we simulate two scenarios, where the discrete primitive is inserted in all of the four limbs, or is inserted in ipsilateral pairs of limbs. Numerical results show that amplitude and frequency of the periodic solutions, corresponding to the gaits trot and pace, are almost constant for diffusive and synaptic couplings. ; CP was supported by Research funded by the European Regional Development Fund through the programme COMPETE and by the Portuguese Government through the FCT Fundacao para a Ciencia e a Tecnologia under the project PEst-C/MAT/UI0144/2011. This work was also funded by FEDER Funding supported by the Operational Program Competitive Factors COMPETE and National Funding supported by the FCT - Portuguese Science Foundation through project PTDC/EEACRO/100655/2008.
Impact of discrete corrections in a modular approach for trajectory generation in quadruped robots
2011-01-01
Conference paper
Electronic Resource
English
DDC: | 629 |