Adjusting step length for rough terrain locomotion

Hodgins, Jessica K.; Raibert, M.

doi:10.1109/70.88138

Cited by 226 publications

(114 citation statements)

References 12 publications

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“…This simple model effectively describes the locomotion of a great variety of different animals (including humans) that use running and hopping gaits [34], and has been successfully translated into several robotic prototypes. Straightforward replicas of compressible legs have employed pneumatic elements [35] or elastic springs [36,37], whereas more elaborate designs have used flexible structural elements [38,39], a C-shaped foot [40,41], bow-like legs [42] or springs that mimic muscle-tendon systems [43]. Similar to multi-legged animals [34], multi-legged robots could base their locomotion on the SLIP model by considering the equivalent contribution of parallel springs [44], so that the system is considered to have a single virtual leg.…”

Section: Legged Locomotion: Hopping Running and Walkingmentioning

confidence: 99%

Fundamentals of soft robot locomotion

Calisti

Picardi

Laschi

2017

J. R. Soc. Interface.

233

147

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Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human -robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics.

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Section: Legged Locomotion: Hopping Running and Walkingmentioning

confidence: 99%

Fundamentals of soft robot locomotion

Calisti

Picardi

Laschi

2017

J. R. Soc. Interface.

233

147

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“…Foot placement during locomotion has been studied before, see Hodgins and Raibert for a quick review ( [13]). Usually, the presented methods use an algorithm to find suitable footholds relatively to the dynamics of the robot.…”

Section: Introductionmentioning

confidence: 99%

Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Dégallier

Righetti

Ijspeert

2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to sensory-motor feedbacks, in particular to properly place feet on specific locations, are thus needed. Dynamical systems are well suited for this task as any online modification of the parameters leads to a smooth adaptation of the trajectories, allowing a safe integration of sensory-motor feedback.In this contribution, as a first step in the direction of locomotion on irregular surfaces, we present a controller that allows hand placement during crawling in a simulated humanoid robot. The goal of the controller is to superimpose rhythmic movements for crawling with discrete (i.e. short-term) modulations of the hand placements to reach specific marks on the ground.

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“…Baisch et al (2014) measured the stride length to reveal the speed of the quadruped robot. Hodgins and Raibert (1991) studied the method to control the step length to adjust to suitable footholds to keep balance in rough terrain. Krishna and Kumar (2016) investigated the influence of stride length on the energy cost in constant height level bounding gait of quadruped robots and found that lower stride lengths give lower mechanical cost of transport.…”

Section: Introductionmentioning

confidence: 99%

Continuous Static Gait with Twisting Trunk of a Metamorphic Quadruped Robot

Zhang

Dai

2018

Mech. Sci.

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Abstract. The natural quadrupeds, such as geckos and lizards, often twist their trunks when moving. Conventional quadruped robots cannot perform the same motion due to equipping with a trunk which is a rigid body or at most consists of two blocks connected by passive joints. This paper proposes a metamorphic quadruped robot with a reconfigurable trunk which can implement active trunk motions, called MetaRobot I. The robot can imitate the natural quadrupeds to execute motion of trunk twisting. Benefiting from the twisting trunk, the stride length of this quadruped is increased comparing to that of conventional quadruped robots.In this paper a continuous static gait benefited from the twisting trunk performing the increased stride length is introduced. After that, the increased stride length relative to the trunk twisting will be analysed mathematically. Other points impacting the implementation of the increased stride length in the gait are investigated such as the upper limit of the stride length and the kinematic margin. The increased stride length in the gait will lead the increase of locomotion speed comparing with conventional quadruped robots, giving the extent that natural quadrupeds twisting their trunks when moving. The simulation and an experiment on the prototype are then carried out to illustrate the benefits on the stride length and locomotion speed brought by the twisting trunk to the quadruped robot.

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Adjusting step length for rough terrain locomotion

Cited by 226 publications

References 12 publications

Fundamentals of soft robot locomotion

Fundamentals of soft robot locomotion

Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Continuous Static Gait with Twisting Trunk of a Metamorphic Quadruped Robot

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