Robust Orientation Correction Control for a Falling Quadruped with an Active Spine
Public DepositedActive spine quadrupeds offer many advantages over their rigid spine counter parts in terms of speed, efficiency, stability and range of motion. A relatively less explored aspect is their capability to adjust their posture mid-air. This work leverages this ability and presents a real time control strategy to correct the pose a falling quadruped with a 2-DOF active spine using a cat like righting reflex. The proposed controller is able to correct and stabilize the orientation of the robot starting from any orientation and a range of initial angular and planar velocities. Additionally, the controller is also tested in the presence of model uncertainties to demonstrate its robustness.
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- Identifier
- etd-124295
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- Orcid
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- Defense date
- Year
- 2024
- Date created
- 2024-08-16
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- Source
- etd-124295
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- Last modified
- 2024-08-26
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Permanent link to this page: https://digital.wpi.edu/show/zc77sv287