ArticleCyborg and bionic systems (Washington, D.C.)2024
An Efficient Closed-Loop Adaptive Controller for a Small-Sized Quadruped Robotic Rat.
Article in Cyborg and bionic systems (Washington, D.C.), 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
What it found
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Who cites it
6 citing papers in PubMed.
- Construction, Control, and Application of Cyborg Animal Composed of Biological and Electromechanical Systems.Cyborg and bionic systems (Washington, D.C.) · 2026Review
- Advanced bioactuator selection for efficient human motion simulation in biohybrid robots using CSF dynamic knowledge.Scientific reports · 2025Article
- Advanced holographic convolutional dense networks and Tangent runner optimization for enhanced polycystic ovarian disease classification.Scientific reports · 2025Article
- Reinforcement learning-driven task migration for effective temperature management in 3D noc systems.Scientific reports · 2025Article
- Design and optimal tuning of fractional order PID controller for paper machine headbox using jellyfish search optimizer algorithm.Scientific reports · 2025Article
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Corrections and comments
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Authors and funding
5 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Large quadruped robots have shown potential for a wide range of everyday tasks due to their superior terrain adaptation. However, small-scale quadruped robots have limited payloads and thus cannot carry sufficient sensing and computational resources, which imposes limitations on their environmental adaptability. To address this challenge, we proposed an efficient closed-loop adaptive controller by simplified pose estimation and control strategy that utilizes only inertial measurement unit sensors, which drastically reduces the control computation. Accordingly, we integrated this control system into a small-scale quadruped robot, SQuRo, and conducted a series of experiments to verify the environmental adaptation performance of SQuRo. The results demonstrated that SQuRo has achieved 6 kinds of robust motion: slope stabilization motion, linear tracking motion, autonomous fall recovery motion, uneven terrain walk, slope walk, and obstacle avoidance. This work paves the way for small-scale quadruped robots to autonomously perform tasks in challenging environments.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.