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Publisher DOI: 10.3389/frobt.2020.00087
Title: A gait pattern generator for closed-loop position control of a soft walking robot
Language: English
Authors: Schiller, Lars  
Seibel, Arthur 
Schlattmann, Josef 
Keywords: closed-loop position control;gait pattern generator;gecko-inspired soft robot;locomotion controller;mobile robotics
Issue Date: 2-Jul-2020
Source: Frontiers in Robotics and AI (7): 87 (2020-07-02)
Journal or Series Name: Frontiers in robotics and AI 
Abstract (english): This paper presents an approach to control the position of a gecko-inspired soft robot in Cartesian space. By formulating constraints under the assumption of constant curvature, the joint space of the robot is reduced in its dimension from nine to two. The remaining two generalized coordinates describe respectively the walking speed and the rotational speed of the robot and define the so-called velocity space. By means of simulations and experimental validation, the direct kinematics of the entire velocity space (mapping in Cartesian task space) is approximated by a bivariate polynomial. Based on this, an optimization problem is formulated that recursively generates the optimal references to reach a given target position in task space. Finally, we show in simulation and experiment that the robot can master arbitrary obstacle courses by making use of this gait pattern generator.
DOI: 10.15480/882.2966
ISSN: 2296-9144
Institute: Laser- und Anlagensystemtechnik G-2 
Type: (wissenschaftlicher) Artikel
Funded by: The publication of this work was supported by the German Research Foundation (DFG) and Hamburg University of Technology (TUHH) in the funding programme “Open Access Publishing.”
License: CC BY 4.0 (Attribution) CC BY 4.0 (Attribution)
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