Modeling, control and gait design of a quadruped robot with active spine towards energy efficiency

Maleki, Soroush; Parsa, Atoosa; Ahmadabadi, Majid Nili

doi:10.1109/icrom.2015.7367796

Cited by 9 publications

(6 citation statements)

References 13 publications

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“…In many studies of quadruped robots with flexible spines, the foot is assumed “locked” to the ground at the contact points [ 25 , 26 ]. In this study it is not, because the interaction forces between the foot and the ground must be studied.…”

Section: The Theoretical Analysis Of Foot Slipmentioning

confidence: 99%

Effects of Spine Motion on Foot Slip in Quadruped Bounding

Chen

Liu

et al. 2018

Applied Bionics and Biomechanics

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Translation and bend of the spine in the sagittal plane during high-speed quadruped running were investigated. The effect of the two spine motions on slip between the foot and the ground was also explored. First, three simplified sagittal plane models of quadruped mammals were studied in symmetric bounding. The first model's trunk allowed no relative motion, the second model allowed only trunk bend, and the third model allowed both bend and translation. Next, torque was introduced to equivalently replace spine motion and the possibility of foot slip of the three models was analyzed theoretically. The results indicate that the third model has the least possibility of slip. This conclusion was further confirmed by simulation experiments. Finally, the conclusion was verified by the reductive model crawling robot.

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Section: The Theoretical Analysis Of Foot Slipmentioning

confidence: 99%

Effects of Spine Motion on Foot Slip in Quadruped Bounding

Chen

Liu

et al. 2018

Applied Bionics and Biomechanics

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“…Due to the additional degrees of freedom introduced by a flexible spine in quadruped robots and the necessity for the motion of the spine to be coordinated with the movement of the remaining degrees of freedom, without mutual inhibition, numerous researchers worldwide are currently exploring the mechanisms underlying the impact of a flexible spine on various performance metrics of quadruped robots. They are establishing corresponding dynamic models and conducting motion characteristic analyses [ 15 , 16 , 17 , 18 , 19 , 20 , 21 , 22 ]. However, there is limited research investigating the influence of a flexible spine on the flight phase motion of quadruped robots.…”

Section: Introductionmentioning

confidence: 99%

“…In 2015, Soroush Maleki and colleagues from the University of Tehran addressed quadruped robots with flexible spines. Using the Lagrange method, they formulated motion equations and, based on the model, employed a genetic algorithm for gait design optimization, ultimately reducing the system’s energy consumption [ 16 ]. In 2018, Yesilevskiy proposed a quadruped robot model with distributed mass.…”

Section: Introductionmentioning

confidence: 99%

Research on Dynamic Modeling Method and Flying Gait Characteristics of Quadruped Robots with Flexible Spines

Jiang,

Xu,

Zheng

et al. 2024

Biomimetics

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In recent years, both domestic and international research on quadruped robots has advanced towards high dynamics and agility, with a focus on high-speed locomotion as a representative motion in high-dynamic activities. Quadruped animals like cheetahs exhibit high-speed running capabilities, attributed to the indispensable role played by their flexible spines during the flight phase motion. This paper establishes dynamic models of flexible spinal quadruped robots with different degrees of simplification, providing a parameterized description of the flight phase motion for both rigid-trunk and flexible-spine quadruped robots. By setting different initial values for the spine joint and calculating the flight phase results for both types of robots at various initial velocities, the study compares and analyzes the impact of a flexible spine on the flight phase motion of quadruped robots. Through comparative experiments, the research aims to validate the influence of a flexible spine during the flight phase motion, providing insights into how spine flexibility affects the flight phase motion of quadruped robots.

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“…Alternatively, when quadruped robots are constructed with spine-like flexible bodies that include actuation, significant control challenges are encountered. Few model-based closed-loop control approaches have been developed, and results instead used kinematics-only models [4], [5], model-free control using machine learning [6], [7], [8], or the replaying of open-loop inputs [9] among others. The Laika project, named for the first dog in space, is an ongoing research effort to develop a quadruped robot with a flexible, actuated body that can be controlled to track specific movements in closed-loop [10].…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Model-Predictive Control With Inverse Statics Optimization for Tensegrity Spine Robots

Sabelhaus

Zhao

Zhu

et al. 2021

IEEE Trans. Contr. Syst. Technol.

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Robots with flexible spines based on tensegrity structures have potential advantages over traditional designs with rigid torsos. However, these robots can be difficult to control due to their high-dimensional nonlinear dynamics. To overcome these issues, this work presents two controllers for tensegrity spine robots, using model-predictive control (MPC), and demonstrates the first closed-loop control of such structures. The first of the two controllers is formulated using only state tracking with smoothing constraints. The second controller, newly introduced in this work, tracks both state and input reference trajectories without smoothing. The reference input trajectory is calculated using a rigid-body reformulation of the inverse kinematics of tensegrity structures, and introduces the first feasible solutions to the problem for certain tensegrity topologies. This second controller significantly reduces the number of parameters involved in designing the control system, making the task much easier. The controllers are simulated with 2D and 3D models of a particular tensegrity spine, designed for use as the backbone of a quadruped robot. These simulations illustrate the different benefits of the higher performance of the smoothing controller versus the lower tuning complexity of the more general input-tracking formulation. Both controllers show noise insensitivity and low tracking error, and can be used for different control goals. The reference input tracking controller is also simulated against an additional model of a similar robot, thereby demonstrating its generality.

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Modeling, control and gait design of a quadruped robot with active spine towards energy efficiency

Cited by 9 publications

References 13 publications

Effects of Spine Motion on Foot Slip in Quadruped Bounding

Effects of Spine Motion on Foot Slip in Quadruped Bounding

Research on Dynamic Modeling Method and Flying Gait Characteristics of Quadruped Robots with Flexible Spines

Model-Predictive Control With Inverse Statics Optimization for Tensegrity Spine Robots

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