The Energetic Benefit of Robotic Gait Selection—A Case Study on the Robot RAM&lt;italic&gt;one&lt;/italic&gt;

Smit-Anseeuw, Nils; Gleason, Rodney; Vasudevan, Ram; Remy, C. David

doi:10.1109/lra.2017.2661801

Cited by 20 publications

(9 citation statements)

References 23 publications

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“…In the world of robotics, simulation studies have corroborated this hypothesis by using numerical optimization to auto-generate energy optimal motions for dynamic models of legged systems [16,17]. In our own work, we have performed such analysis for conceptual models of bipeds [18] and quadrupeds [19], as well as for a detailed model of the bipedal robot RAMone [20]. The energy optimal motions found in all these studies closely resemble the different gaits found in nature.…”

Section: Introductionmentioning

confidence: 64%

All common bipedal gaits emerge from a single passive model

Gan¹,

Yesilevskiy²,

Zaytsev³

et al. 2018

J. R. Soc. Interface.

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In this paper, we systematically investigate passive gaits that emerge from the natural mechanical dynamics of a bipedal system. We use an energetically conservative model of a simple spring-leg biped that exhibits well-defined swing leg dynamics. Through a targeted continuation of periodic motions of this model, we systematically identify different gaits that emerge from simple bouncing in place. We show that these gaits arise along one-dimensional manifolds that bifurcate into different branches with distinctly different motions. The branching is associated with repeated breaks in symmetry of the motion. Among others, the resulting passive dynamic gaits include walking, running, hopping, skipping and galloping. Our work establishes that the most common bipedal gaits can be obtained as different oscillatory motions (or nonlinear modes) of a single mechanical system with a single set of parameter values. For each of these gaits, the timing of swing leg motion and vertical motion is matched. This work thus supports the notion that different gaits are primarily a manifestation of the underlying natural mechanical dynamics of a legged system. Our results might explain the prevalence of certain gaits in nature, and may provide a blueprint for the design and control of energetically economical legged robots.

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Section: Introductionmentioning

confidence: 64%

All common bipedal gaits emerge from a single passive model

Gan¹,

Yesilevskiy²,

Zaytsev³

et al. 2018

J. R. Soc. Interface.

Self Cite

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“…This might be attributed to the lack of an articulated spine in the original quadrupedal model Yesilevskiy et al (2018b). Smit-Anseeuw et al (2017) extended this approach to discuss optimal motions for the bipedal robot RAMone, and investigated the results of comparing two different footfall sequences (a walking sequence with a double support phase and a running sequence with aerial phase) and two different orientations of the knee joints (pointing forwards and backwards). It showed the optimal gait switches from ballistic walking with an instantaneous double-support to spring-mass running with an extended aerial phase at a speed of around 1 m/s.…”

Section: Minimal Energeticsmentioning

confidence: 99%

An Overview on Principles for Energy Efficient Robot Locomotion

et al. 2018

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Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy efficiency in legged robotic systems, this paper provides an overview on recent advancements in development of such platforms. The covered different perspectives include actuation, leg structure, control and locomotion principles. We review various robotic actuators exploiting compliance in series and in parallel with the drive-train to permit energy recycling during locomotion. We discuss the importance of limb segmentation under efficiency aspects and with respect to design, dynamics analysis and control of legged robots. This paper also reviews a number of control approaches allowing for energy efficient locomotion of robots by exploiting the natural dynamics of the system, and by utilizing optimal control approaches targeting locomotion expenditure. To this end, a set of locomotion principles elaborating on models for energetics, dynamics, and of the systems is studied.

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“…All the above concepts can be effectively combined with trunk stabilization techniques using proprioceptive [3] and exteroceptive feedback [54] in a modular way. Multi-legged locomotion poses the question of gait selection, which has been a continuous area of research for half a century now [36,51]. The locomotion control concepts of multi-legged robots are largely the same as for bipeds.…”

Section: Generation Of Walking and Running Motionsmentioning

confidence: 99%