Cheetah-cub-S: Steering of a quadruped robot using trunk motion

Weinmeister, Karl; Eckert, P.; Witte, Hartmut Dipl.-Ing. Dr. med.; Ijspeert, Auke Jan

doi:10.1109/ssrr.2015.7443021

Cited by 26 publications

(18 citation statements)

References 10 publications

(7 reference statements)

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“…The last movement on flat ground essential for a versatile system is the ability to turn. Here, a combination of adapted stride length (ASL) and spine deflection of 5° (like in Cheetah-Cub-S; Weinmeister, Eckert, Witte, & Ijspeert, 2015) was used. The resulting turn was again somewhat perturbed by slippage, but with a minimum radius of 0.58 m tiny, for a robot of Serval’s length (see Figure 17).…”

Section: Experimental Validationmentioning

confidence: 99%

Towards rich motion skills with the lightweight quadruped robot Serval

et al. 2019

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Bio-inspired robotic designs introducing and benefiting from morphological aspects present in animals allowed the generation of fast, robust, and energy-efficient locomotion. We used engineering tools and interdisciplinary knowledge transferred from biology to build low-cost robots, able to achieve a certain level of versatility. Serval, a compliant quadruped robot with actuated spine and high range of motion in all joints, was developed to address the question of what mechatronic complexity is needed to achieve rich motion skills. In our experiments, the robot presented a high level of versatility (number of skills) at medium speed, with a minimal control effort and, in this article, no usage of its spine. Implementing a basic kinematics-duplication from dogs, we found strengths to emphasize, weaknesses to correct, and made Serval ready for future attempts to achieve more agile locomotion. In particular, we investigated the following skills: walk, trot, gallop, bound (crouched), sidestep, turn with a radius, ascend slopes including flat ground transition, perform single and double step-downs, fall, trot over bumpy terrain, lie/sit down, and stand up.

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Section: Experimental Validationmentioning

confidence: 99%

Towards rich motion skills with the lightweight quadruped robot Serval

et al. 2019

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“…As we have a broad range of different legged robots in the Biorobotics laboratory, we can implement a proof-of-concept directly. A general comparison of the agility scores can be found in Table IV. 1) Overview over the Selected Robots: The first series of robots we applied our new benchmark to, come from the mammal-like quadruped family starting with Cheetah-Cub (C-C) [6] with its under-actuated advanced spring loaded pantographic legs and good passive perturbation stability, then Cheetah-Cub-AL, a reviewed version of the aforementioned quadruped, and Cheetah-Cub-S, a robot with the same leg but actuated spine design for steering [50]. Another pantographdriven robot, Oncilla, closes the mammal-like starters with a high level of sensor integration (inertial measurement unit, joint-position, 3D-force-sensors in the feet) and respective closed-loop control, employing stumbling-correction, posturecontrol, and leg-extension-reflexes [51].…”

Section: First Experimental Implementationmentioning

confidence: 99%

Benchmarking Agility For Multilegged Terrestrial Robots

Eckert

Ijspeert

2019

IEEE Trans. Robot.

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In this paper, we present a novel and practical approach for benchmarking agility. We focus on terrestrial, multi-legged locomotion in the field of bio-inspired robotics. We define agility as the ability to perform a set of different but specific tasks executed in a fast and efficient manner. This definition is inspired by the analysis of natural role models, such as dogs and horses as well as robotic systems. An evaluation of existing benchmarks in robotics is done and taken into account in our proposed benchmark. After the general definition, the actual normalized benchmarking values are defined, and measuring methods, as well as an online database for agility score collection and distribution, are presented. To provide a baseline for agile locomotion, various videos of dog-agility competitions were analyzed and agility scores calculated where applicable. Finally, validation and implementation of the benchmark are done with different robots directly available to the authors. In conclusion, our benchmark will enable researchers not only to compare existing robots and find out strengths and weaknesses in different design approaches, but also give a tool to define new fitness functions for optimization, learning processes and future robots developments, intensifying the links between biology and technology even further.

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“…Small robots, here even under 5kg, represent the second and most influential group for the work presented in this paper. We selected Tekken 1 and 2 [11,12], Puppy I and II [13,14] as well as Cheetah-Cub [15], Bobcat [16], Oncilla [17], Lynx [18] and Cheetah-Cub-S [19]. For this class of robots a different development scheme can be employed.…”

Section: State-of-the-art: Versatile Legged Terrestrial Robotsmentioning

confidence: 99%

Towards Rich Motion Skills with the Lightweight Quadruped Robot Serval - A Design, Control and Experimental Study

Eckert

Schmerbauch

Horvat

et al. 2018

From Animals to Animats 15

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Bio-inspired robotic designs introducing and benefiting from morphological aspects present in animals allowed the generation of fast, robust and energy efficient locomotion. We used engineering tools and interdisciplinary knowledge transferred from biology to build low-cost robots able to achieve a certain level of versatility. Serval, a compliant quadruped robot with actuated spine and high range of motion in all joints was developed to address the question of what mechatronic complexity is needed to achieve rich motion skills. In our experiments, the robot presented a high level of versatility (number of skills) at medium speed, with a minimal control effort and, in this article, no usage of its spine. Implementing a basic kinematics-duplication from dogs, we found strengths to emphasize, weaknesses to correct and made Serval ready for future attempts to achieve more agile locomotion. In particular, we investigated the following skills: trot, bound (crouched), sidestep, turn with a radius, ascend slopes including flat ground transition, perform single and double step-downs, fall, trot over bumpy terrain, lie/sit down, and stand up.

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Cheetah-cub-S: Steering of a quadruped robot using trunk motion

Cited by 26 publications

References 10 publications

Towards rich motion skills with the lightweight quadruped robot Serval

Towards rich motion skills with the lightweight quadruped robot Serval

Benchmarking Agility For Multilegged Terrestrial Robots

Towards Rich Motion Skills with the Lightweight Quadruped Robot Serval - A Design, Control and Experimental Study

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