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An Efficient Closed-Loop Adaptive Controller for a Small-Sized Quadruped Robotic Rat.

Xiaolong Quan^1,2, Rongjie Du^1,2, Ruochao Wang^1,2

¹Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.

Cyborg and Bionic Systems (Washington, D.C.)

|May 12, 2025

Summary

This summary is machine-generated.

Researchers developed an efficient adaptive controller for small quadruped robots, enabling robust autonomous navigation. This innovation enhances environmental adaptability for robots like SQuRo, overcoming payload limitations.

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Area of Science:

Robotics
Control Systems
Artificial Intelligence

Background:

Large quadruped robots excel at terrain adaptation but have limited applications.
Small-scale quadruped robots face payload constraints, limiting onboard sensing and computation.
This restricts their ability to adapt to diverse and challenging environments.

Purpose of the Study:

To develop an efficient closed-loop adaptive controller for small-scale quadruped robots.
To enhance the environmental adaptability of small robots by overcoming payload limitations.
To enable autonomous task performance in challenging terrains.

Main Methods:

Proposed a simplified pose estimation and control strategy using only inertial measurement unit (IMU) sensors.
Integrated the control system into a small-scale quadruped robot named SQuRo.
Conducted experiments to evaluate SQuRo's environmental adaptation capabilities.

Main Results:

SQuRo demonstrated robust performance in six distinct motion types.
Achieved slope stabilization, linear tracking, and autonomous fall recovery.
Successfully navigated uneven terrain, slopes, and performed obstacle avoidance.

Conclusions:

The developed controller significantly reduces computational load, enabling enhanced adaptability.
Small-scale quadruped robots can now perform complex tasks autonomously in challenging environments.
This research opens new possibilities for the deployment of agile, intelligent small robots.