Design and control of a pneumatic quadrupedal walking robot

  title={Design and control of a pneumatic quadrupedal walking robot},
  author={Keith W. Wait and Michael Goldfarb},
  journal={2011 IEEE International Conference on Robotics and Automation},
The mechanical and electronics design of a quadrupedal walking robot featuring 12 pneumatically actuated degrees of freedom is presented. Control of the robot's joint motions incorporates open-loop damping into the actuation and uses a stance/swing gain scheduler in the joint position controller. The inclusion of these two attributes enables stable and robust joint-level control while attenuating the undesirable oscillatory modes that are commonly associated with pneumatically actuated walking… CONTINUE READING