Spinal joint compliance and actuation in a simulated bounding quadruped robot

Pouya, Soha; Khodabakhsh, Mohammad; Spröwitz, Alexander; Ijspeert, Auke Jan

doi:10.1007/s10514-015-9540-2

Cited by 50 publications

(37 citation statements)

References 34 publications

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“…In de Santos et al (2007) it is defined as the distance travelled by the COG (center of gravity) of the body along a gait cycle.essential characteristics that determine the locomotion speed of the quadruped together with the gait cycle. Leeser (1996) and Pouya et al (2016) tried to increase the stride length aiming to increase the locomotion speed by flexing the spine in the vertical plane. Nevertheless, they did not investigate the mathematical relation between the stride length and the flexion angle.…”

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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Section: Introductionmentioning

confidence: 99%

Continuous Static Gait with Twisting Trunk of a Metamorphic Quadruped Robot

Zhang

Dai

2018

Mech. Sci.

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“…Following [11], [12], [13], [15], [18], we propose a reduced-order sagittal-plane spined quadrupedal model consisting of two bipedal body segments connected by a massless pin joint 3 as shown in Figure 1. We take the state of the model to be given by q = (x, z, φ, ψ)…”

Section: Sagittal-plane Reduced-order Model Of Spined Quadrupedmentioning

confidence: 99%

“…An array of simulation studies of steady-state robotic quadrupedal running utilizing core actuation and compliance has generated a class of reduced-order models that suggest speed and stability benefits [10], [11], [12], [13], yet verifying these models on power-autonomous physical machines remains open. Progress towards this goal was made by the servo-driven Bobcat robot utilizing off-board power [14].…”

Section: Introductionmentioning

confidence: 99%

Empirical validation of a spined sagittal-plane quadrupedal model

Duperret

Koditschek

2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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Empirical validation of a spined sagittal-plane quadrupedal model AbstractWe document empirically stable bounding using an actively powered spine on the Inu quadrupedal robot, and propose a reduced-order model to capture the dynamics associated with this additional, actuated spine degree of freedom. This model is sufficiently accurate as to roughly describe the robots mass center trajectory during a bounding limit cycle, thus making it a potential option for low dimensional representations of spine actuation in steady-state legged locomotion. Disciplines Controls and Control Theory | Electrical and Computer Engineering | Engineering | RoboticsThis conference paper is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/786Empirical validation of a spined sagittal-plane quadrupedal model Jeffrey Duperret and Daniel E. Koditschek Abstract-We document empirically stable bounding using an actively powered spine on the Inu quadrupedal robot, and propose a reduced-order model to capture the dynamics associated with this additional, actuated spine degree of freedom. This model is sufficiently accurate as to roughly describe the robots mass center trajectory during a bounding limit cycle, thus making it a potential option for low dimensional representations of spine actuation in steady-state legged locomotion.

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“…Simplified models of quadrupedal platforms, such as the one depicted in Figure 1(a), often take the form of three-degree-of-freedom rigid bodies with common distances between the hips and mass center [16,17] and assume massless legs able to apply wrenches on the mass center when in contact with the ground subject to friction cone constraints. Following [6,7,8,9], we add core actuation to this model by introducing an actuated revolute joint to the body, depicted in Figure 1(b) (note that alternative formulations exist, such as [5]). Here we make the simplifying assumption that the parameters of each body segment are equal and that the mass center of each body segment is aligned with the leg hip, as is approximately true for the machine presented in Section 3.…”

Section: Technical Approach: the Utility Of Core Actuationmentioning

confidence: 99%

“…Simulation studies of reduced-order models suggest that core actuation and compliance can provide increased speed, stability, and apex height while running [5,6,7]. Self-stabilizing gaits and decreased energetic cost of transport have been found with purely passive core compliance [8].…”

Section: Introductionmentioning

confidence: 99%

Core Actuation Promotes Self-manipulability on a Direct-Drive Quadrupedal Robot

Duperret

Kramer

Koditschek

2017

Springer Proceedings in Advanced Robotics

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For direct-drive legged robots operating in unstructured environments, workspace volume and force generation are competing, scarce resources. In this paper we demonstrate that introducing geared core actuation (i.e., proximal to rather than distal from the mass center) increases workspace volume and can provide a disproportionate amount of work-producing force to the mass center without affecting leg linkage transparency. These effects are analytically quantifiable up to modest assumptions, and are demonstrated empirically on a spined quadruped performing a leap both on level ground and from an isolated foothold (an archetypal feature of unstructured terrain). Abstract. For direct-drive legged robots operating in unstructured environments, workspace volume and force generation are competing, scarce resources. Disciplines Electrical and Computer Engineering | Engineering | Systems EngineeringIn this paper we demonstrate that introducing geared core actuation (i.e., proximal to rather than distal from the mass center) increases workspace volume and can provide a disproportionate amount of work-producing-force to the mass center without affecting leg linkage transparency. These effects are analytically quantifiable up to modest assumptions, and are demonstrated empirically on a spined quadruped performing a leap both on level ground and from an isolated foothold (an archetypal feature of unstructured terrain).

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Spinal joint compliance and actuation in a simulated bounding quadruped robot

Cited by 50 publications

References 34 publications

Continuous Static Gait with Twisting Trunk of a Metamorphic Quadruped Robot

Continuous Static Gait with Twisting Trunk of a Metamorphic Quadruped Robot

Empirical validation of a spined sagittal-plane quadrupedal model

Core Actuation Promotes Self-manipulability on a Direct-Drive Quadrupedal Robot

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