TY - GEN
T1 - Posture Estimation and Trajectory Tracking for SQuRo
T2 - 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022
AU - Gao, Junhui
AU - Du, Rongjie
AU - Quan, Xiaolong
AU - Jia, Guanglu
AU - Huang, Qiang
AU - Fukuda, Toshio
AU - Shi, Qing
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Large quadruped robots have shown high environmental adaptability and promising applications. However, due to the difficulty of integrating multiple sensors or highperformance CPU in such a limited dimension, which strongly hindered the perception and calculation ability, quadruped robots in small scale haven't shown equally performance. To overcome this limitation, we integrated the inertial measurement unit (IMU) into the small-sized robotic rat SQuRo, and proposed simplified control strategies to enhance its robustness. The improvements includes three parts: 1) A posture control strategy is proposed and verified by posture adjustment in a slope test; 2) Straight line tracking was achieved by detecting and controlling the yaw angle of SQuRo; 3) The autonomous fall recovery was achieved by detecting the fall and executed a predefined fall recovery strategy.
AB - Large quadruped robots have shown high environmental adaptability and promising applications. However, due to the difficulty of integrating multiple sensors or highperformance CPU in such a limited dimension, which strongly hindered the perception and calculation ability, quadruped robots in small scale haven't shown equally performance. To overcome this limitation, we integrated the inertial measurement unit (IMU) into the small-sized robotic rat SQuRo, and proposed simplified control strategies to enhance its robustness. The improvements includes three parts: 1) A posture control strategy is proposed and verified by posture adjustment in a slope test; 2) Straight line tracking was achieved by detecting and controlling the yaw angle of SQuRo; 3) The autonomous fall recovery was achieved by detecting the fall and executed a predefined fall recovery strategy.
UR - http://www.scopus.com/inward/record.url?scp=85159780910&partnerID=8YFLogxK
U2 - 10.1109/CBS55922.2023.10115373
DO - 10.1109/CBS55922.2023.10115373
M3 - Conference contribution
AN - SCOPUS:85159780910
T3 - 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022
SP - 97
EP - 103
BT - 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 24 March 2023 through 26 March 2023
ER -