On the Dynamic Similarity Between Bipeds and Quadrupeds: A Case Study on Bounding

Gan, Zhenyu; Jiao, Ziyuan; Remy, C. David

doi:10.1109/lra.2018.2854923

Cited by 25 publications

(19 citation statements)

References 31 publications

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“…where C(ǫ) is already defined in (18). Therefore, the angle swept ∆θ is uniquely defined by the system state at touch-down (L ′ T D , θ T D , θ ′ T D ) and the spring stiffness parameter K. Moreover, the landing angle θ T D = −α affects ∆θ also by determining the radial and angular landing velocity.…”

Section: Constructing Approximate Solutionsmentioning

confidence: 99%

“…This model, due to its robustness, has also been extensively used in robotics to design and construct various legged robots (see the seminal paper by Raibert [16] and a modern review [17]). Furthermore, in the literature one can find a number of important generalizations of the SLIP model such as varying attack angle [18], introducing control [19][20][21], damping [22], and multi-legged hoppers [23].…”

Section: Introductionmentioning

confidence: 99%

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Stability of Fixed Points in an Approximate Solution of the Spring-mass Running Model

Wróblewska

Płociniczka

Kowalczyk

2021

Preprint

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We consider a classical spring-mass model of human running which is built upon an inverted elastic pendulum. Based on our previous results concerning asymptotic solutions for large spring constant (or small angle of attack), we construct analytical approximations of solutions in the considered model. The model itself consists of two sets of differential equations - one set describes the motion of the centre of mass of a runner in contact with the ground (support phase), and the second set describes the phase of no contact with the ground (flight phase). By appropriately concatenating asymptotic solutions for the two phases we are able to reduce the dynamics to a one-dimensional apex to apex return map. We find sufficient conditions for this map to have a unique stable fixed point. By numerical continuation of fixed points with respect to energy, we find a transcritical bifurcation in our model system.

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Section: Constructing Approximate Solutionsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Stability of Fixed Points in an Approximate Solution of the Spring-mass Running Model

Wróblewska

Płociniczka

Kowalczyk

2021

Preprint

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“…The existence of biomechanical template models ( §2.2, [1]) as observed in different animals and during different gaits and speeds [17][18][19] indicates a basic structure of locomotion. However, these mechanical concepts need to be reflected in the segmented human leg.…”

Section: Conceptsmentioning

confidence: 99%

“…These models have been used to resemble different features of legged locomotion at different levels of the human body (muscles, joints, segments). For instance, the behaviour of the leg during walking or running can be represented by the spring-loaded inverted pendulum, called SLIP model, that is universal for animals with different numbers of legs, humans and a variety of gaits [17][18][19]. This indicates a global organization of movement with functional requirements that are independent of the anatomical structure of the body.…”

Section: Concepts and Models Of Locomotion 21 Locomotor Subfunctionsmentioning

confidence: 99%

Biarticular muscles in light of template models, experiments and robotics: a review

Schumacher

Sharbafi

Seyfarth

et al. 2020

J. R. Soc. Interface.

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Leg morphology is an important outcome of evolution. A remarkable morphological leg feature is the existence of biarticular muscles that span adjacent joints. Diverse studies from different fields of research suggest a less coherent understanding of the muscles' functionality in cyclic, sagittal plane locomotion. We structured this review of biarticular muscle function by reflecting biomechanical template models, human experiments and robotic system designs. Within these approaches, we surveyed the contribution of biarticular muscles to the locomotor subfunctions (stance, balance and swing). While mono-and biarticular muscles do not show physiological differences, the reviewed studies provide evidence for complementary and locomotor subfunction-specific contributions of mono-and biarticular muscles. In stance, biarticular muscles coordinate joint movements, improve economy (e.g. by transferring energy) and secure the zig-zag configuration of the leg against joint overextension. These commonly known functions are extended by an explicit role of biarticular muscles in controlling the angular momentum for balance and swing. Human-like leg arrangement and intrinsic (compliant) properties of biarticular structures improve the controllability and energy efficiency of legged robots and assistive devices. Future interdisciplinary research on biarticular muscles should address their role for sensing and control as well as non-cyclic and/or non-sagittal motions, and non-static moment arms. royalsocietypublishing.org/journal/rsif J. R. Soc. Interface 17: 20180413 royalsocietypublishing.org/journal/rsif J. R. Soc. Interface 17: 20180413

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“…In this research, foot recovery point (FRP), or the stepping position of the swinging foot for the recovery because of the sideway impact disturbance and structure specified mixed sensitivity H 2/ H ∞ controller, is proposed for the quadruped robot. A trotting quadruped can be modelled as a biped (Polet and Bertram, 2019; Gan et al , 2018; Ugurlu et al , 2013). When a quadruped walks in a trot gait, its feet can be paired diagonally as shown in Figure 4.…”

Section: Push Recovery Controlmentioning

confidence: 99%

Push recovery control of quadruped robot using particle swarm optimization based structure specified mixed sensitivity H₂/H_∞ control

Sutyasadi

Parnichkun

2020

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Purpose The purpose of this paper is to introduce a quadruped robot strategy to avoid tipping down because of side impact disturbance and a control algorithm that guarantees the strategy can be controlled stably even in the presence of disturbances or model uncertainties. Design/methodology/approach A quadruped robot was developed. Trot gait is applied so the quadruped can be modelled as a compass biped model. The algorithm to find a correct stepping position after an impact was developed. A particle swarm optimization-based structure-specified mixed sensitivity (H2/H∞) robust is applied to reach the stepping position. Findings By measuring the angle and speed of the side tipping after an impact disturbance, a point location for the robot to step or the foothold recovery point (FRP) was successfully generated. The proposed particle swarm optimization-based structure-specified mixed sensitivity H2/H∞ robust control also successfully brought the legs to the desired point. Practical implications A traditional H∞ controller synthesis usually results in a very high order of controller. This makes implementation on an embedded controller very difficult. The proposed controller is just a second-order controller but it can handle the uncertainties and disturbances that arise and guarantee that FRP can be reached. Originality/value The first contribution is the proposed low-order robust H2/H∞ controller so it is easy to be programmed on a small embedded system. The second is FRP, a stepping point for a quadruped robot after receiving side impact disturbance so the robot will not fall.

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On the Dynamic Similarity Between Bipeds and Quadrupeds: A Case Study on Bounding

Cited by 25 publications

References 31 publications

Stability of Fixed Points in an Approximate Solution of the Spring-mass Running Model

Stability of Fixed Points in an Approximate Solution of the Spring-mass Running Model

Biarticular muscles in light of template models, experiments and robotics: a review

Push recovery control of quadruped robot using particle swarm optimization based structure specified mixed sensitivity H₂/H_∞ control

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On the Dynamic Similarity Between Bipeds and Quadrupeds: A Case Study on Bounding

Cited by 25 publications

References 31 publications

Stability of Fixed Points in an Approximate Solution of the Spring-mass Running Model

Stability of Fixed Points in an Approximate Solution of the Spring-mass Running Model

Biarticular muscles in light of template models, experiments and robotics: a review

Push recovery control of quadruped robot using particle swarm optimization based structure specified mixed sensitivity H2/H∞ control

Contact Info

Product

Resources

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Push recovery control of quadruped robot using particle swarm optimization based structure specified mixed sensitivity H₂/H_∞ control