Quadruped omnidirectional locomotion

The method of locomotion of an autonomous robot is an important factor that sets limitations on its autonomous ability.

On uneven and rough terrains that may be comprised by several kinds of obstacles, holes, steps and ditches, walking robots have clear advantages over conventional robots, using simple wheels or tracks.
A walking robot contacts the ground in determined points, supporting the body in specific footholds, allowing the avoidance of obstacles or holes. This kind of robot can also benefit from the articulation of the limbs to adapt its structure to uneven terrain, allowing a more stable and smoother locomotion.

Furthermore, awalking robot can be an omnidirectional robot and therefore can walk sideways, forward or turning on the spot. All these characteristics gives the walking robots a high level of maneuverability.

The goal of this project involves:

  • Design of a CPG network, responsible for generating the motor movements required for quadruped omnidirectional locomotion;
  • and the design of a modulatory structure, responsible for eliciting the motor programs that encode the behaviours of omnidirectional locomotion.

Results demonstrate that the proposed CPG network is suitable for generating the omnidirectional locomotion, while integrating a modulatory structure. However they also show the need for the integration of sensory information for the correction of the locomotor movements.

People involved in this project: 
Related publications: 
Matos, V., and C. P. Santos, "Omnidirectional locomotion in a quadruped robot: A CPG-based approach", Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, pp. 3392 -3397, oct., 2010.  Download: Omnidirectional Locomotion in a Quadruped Robot: A CPG-based Approach (224.26 KB)
Project status: 
Past or closed project
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