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Bicycle-inspired simple balance control method for quadruped robots in high-speed running
Shoei Hattori1,2,3,4, Shura Suzuki2, Akira Fukuhara2
1Division for Interdisciplinary Advanced Research and Education, Tohoku University, Sendai, Japan.
Quadruped robots can achieve stable, high-speed locomotion using bicycle-inspired yaw control. This method enhances agility and robustness by leveraging centrifugal forces for dynamic balance.
Area of Science:
- Robotics
- Biomechanics
- Control Systems
Background:
- Bicycles use steering to maintain balance and maneuver.
- Quadruped robots often struggle with dynamic stability and agile turning.
Purpose of the Study:
- To investigate bicycle-inspired yaw control for quadruped robots.
- To enhance robot stability, speed, and maneuverability.
Main Methods:
- Implemented a yaw trunk joint analogous to bicycle handlebars.
- Conducted simulations to test locomotion and disturbance rejection.
Main Results:
- Achieved stable high-speed locomotion.
- Demonstrated robustness against external disturbances.
- Enabled directional changes with minimal speed loss.
Conclusions:
- Bicycle-inspired control effectively enhances quadruped robot agility.
- Centrifugal force is key for agile locomotion, mimicking cursorial animals.
- This approach offers a straightforward method for improving robot stability and maneuverability.
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