Attitude control methods for quadruped form MMS (MMS-G) to use state feedback control

摘要

The multi-purpose module system (MMS), a modular robot, comprises joint and function modules. It is possible to transform the MMS into the series-connected and the quadruped forms. This study presents a quadruped form MMS (MMS-G03). In particular, modeling and simulation of MMS-G03 for attitude control is discussed. Two attitude control methods are proposed based on an inverted pendulum model using a state feedback control scheme. The effects of the two methods are evaluated. According to the results, the attitude angle approached the target angle and converged. The attitude angle increased upon increasing the weight rate in both control methods because of the increase in the moment of inertia of body. The lifted leg method is effective at lower leg length rates, and the supporting leg method is effective at higher leg length rates. The usefulness of the proposed attitude control methods was observed under various module conditions.