Robust Orientation Correction Control for a Falling Quadruped with an Active Spine

Venganallore Parsuram, Venkateshkrishna

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Robust Orientation Correction Control for a Falling Quadruped with an Active Spine

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Active 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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