Quadrupedal template model for parametric stability analysis of trotting gaits

Boffa, Lorenzo; Sesselmann, Anna; Roa, Máximo A.

doi:10.1109/iros51168.2021.9635974

Cited by 3 publications

(3 citation statements)

References 18 publications

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“…We had previously demonstrated that tuning the system parameters improves the gait stability for a specific gait (trotting) at specific velocities [20]. However, using a model with fixed parameters it is not possible to optimize the stability for a wide range of velocities.…”

Section: Final Discussionmentioning

confidence: 99%

“…The adoption of a more detailed model with segmented legs configuration, more similar to the legs commonly used in quadrupedal robots (e.g. as in [20]), could facilitate such translation of results. The accuracy of the model used here could be increased by introducing a finite foot mass as well as dampers in parallel to the leg springs, in order to model the energy losses associated with the foot impact and the friction.…”

Section: Final Discussionmentioning

confidence: 99%

“…In principle, optimizing the choice of the fixed parameters leads to an improvement in locomotion stability for a specific gait at a specific horizontal velocity, e.g. as performed for trotting using a segmented leg model in [20]. To obtain a more generic solution, a variable elasticity is now introduced in the model, by allowing the leg stiffness K to have a range of variation.…”

Section: Optimized Stability Through Variable Elastic Parametersmentioning

confidence: 99%

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Influence of Variable Leg Elasticity on the Stability of Quadrupedal Gaits

Fatti

Sesselmann

Roa

2022

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Several template models have been developed to facilitate the analysis of limit-cycles for quadrupedal locomotion. The parameters in the model are usually fixed; however, biology shows that animals change their leg stiffness according to the locomotion velocity, and this adaptability invariably affects the stability of the gait. This paper provides an analysis of the influence of this variable leg stiffness on the stability of different quadrupedal gaits. The analysis exploits a simplified quadrupedal model with compliant legs and shoulder joints represented as torsional springs. This model can reproduce the most common quadrupedal gaits observed in nature. The stability of such emerging gaits is then checked. Afterward, an optimization process is used to search for the system parameters that guarantee maximum gait stability. Our study shows that using the highest feasible leg swing frequency and adopting a leg stiffness that increases with the speed of locomotion noticeably improves the gait stability over a wide range of horizontal velocities while reducing the oscillations of the trunk. This insight can be applied in the design of novel elastic quadrupedal robots, where variable stiffness actuators could be employed to improve the overall locomotion behavior.

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Section: Final Discussionmentioning

confidence: 99%

Section: Final Discussionmentioning

confidence: 99%

Section: Optimized Stability Through Variable Elastic Parametersmentioning

confidence: 99%

See 1 more Smart Citation

Influence of Variable Leg Elasticity on the Stability of Quadrupedal Gaits

Fatti

Sesselmann

Roa

2022

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Analysis of Stability and Energy Efficiency of Legged Running Based on the Two-Segmented Leg Model

Hu,

Qian,

et al. 2023

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Emerging Gaits for a Quadrupedal Template Model With Segmented Legs

Boffa

Sesselmann

Roa

2023

Journal of Mechanisms and Robotics

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Energy-efficient gaits in walking robots can be obtained by designing elastic systems that exhibit naturally emerging locomotion patterns. Biological legged locomotion serves as inspiration, as animals use different gaits to move at certain speeds while minimizing energy consumption. To understand the underlying dynamics of biological locomotion, simplified models have been proposed. The most common one, the SLIP (Spring Loaded Inverted Pendulum) model, can explain the effect of the radial elasticity of linear legs and helps to explain locomotion patterns, especially for running behaviors, in different legged systems. Unfortunately, the SLIP model is inappropriate for the study of stability of limit cycles in systems with articulated legs, which are most commonly used in real robots. This paper introduces a novel quadrupedal template model featuring articulated elastic legs, non-constant leg stiffness, and dynamic leg swing. Numerical simulation with a continuation approach is used to discover the gaits emerging from the natural dynamics of the model, without imposing any contact sequence a priori. The stability of those gaits is also characterized, in order to facilitate the exploitation of the natural model dynamics for generating locomotion patterns for quadrupedal robots

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Quadrupedal template model for parametric stability analysis of trotting gaits

Cited by 3 publications

References 18 publications

Influence of Variable Leg Elasticity on the Stability of Quadrupedal Gaits

Influence of Variable Leg Elasticity on the Stability of Quadrupedal Gaits

Analysis of Stability and Energy Efficiency of Legged Running Based on the Two-Segmented Leg Model

Emerging Gaits for a Quadrupedal Template Model With Segmented Legs

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