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2) Dynamic and Compliant Trot-Walking on Unstructured Terrain
with the Hydraulically-Actuated Quadruped HyQ:
In this project, I was invited back to Italian Institute of Technology, my former employer, to conduct experiments on HyQ, a 77 [kg] large-sized hydraulically-actuated quadruped with advanced mechatronics design. I truly enjoyed the every minute of working with this big-doggy, thanks to the coolest research team in Europe, the HyQ Team. I appreciate their warm friendship and efficient collaboration.
I designed a dynamic trot-walking generation algorithm with continuous acceleration guarantee throughout the whole locomotion period. It is also backed up with an virtual admittance controller which enables HyQ to walk over unperceived uneven terrain. Results were just presented in IROS 2013. See the paper for the details.
Related Publication: [J8] Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, Kana Kayamori, Darwin G. Caldwell, and Tatsuo Narikiyo, Pattern Generation and Compliant Feedback Control for Quadrupedal Dynamic Trot-Walking Locomotion: Experiments on RoboCat-1 and HyQ, Autonomous Robots, Accepted, in print. (SCI) [pdf]
[IC22] Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, and Darwin Caldwell, Dynamic Trot-Walking with the Hydraulic Quadruped Robot - HyQ: Analytical Trajectory Generation and Active Compliance Control, in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, 2013, pp. 6044-6051. [pdf]
1) Compliant Trot-Running and Trot-Walking on Rough Terrain: Experiments on a Medium-Size Quadruped RoboCat-1:
In Toyota Technological Institute, we developed a simple but robust quadruped robot to explore quadruped locomotion dynamics on rough terrain. To this end, I developed an active compliance algorithm that evaluates force sensory feedback in a way to comply with force constraints when needed, e.g., unexpected ground impact, disturbances, etc. On top of this controller, gyro sensor information is processed to regulate the upper torso angular momentum for attitude correction. Fusing these controllers on the quadruped RoboCat-1 allowed the experimentation of dynamic trot-walking and trot-running locomotion on a rough terrain.
Related Publications: [IC21] Barkan Ugurlu, Kana Kotaka, and Tatsuo Narikiyo, "Actively-Compliant Locomotion Control on Rough Terrain: Cyclic Jumping and Trotting Experiments on a Stiff-by-Nature Quadruped", in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013.
[IC20] Kana Kotaka, Barkan Ugurlu, Michihiro Kawanishi, and Tatsuo Narikiyo, "Prototype Development and Real-time Trot-Running Implementation of a Quadruped Robot: RoboCat-1", in Proc. of the IEEE International Conference on Mechatronics (ICM), Vicenza, Italy, 2013.
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