A Bio-inspired Quasi-resonant Compliant Backbone for Low Power Consumption Quadrupedal Locomotion

Ricaurte, Edgar Andres Parra; Colorado, Julián; Domínguez, Sergio; Rossi, Cláudio

doi:10.5220/0009770402420249

Cited by 3 publications

(2 citation statements)

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“…The authors in [13] have proposed an energy-efficient approach for locomotion of a compliant monopod system operated close to its natural frequency. While the above-mentioned works mainly focus on the legged subsystem, the underlying principles can also be applied to other components of the robot such as in the backbone [14] or in the arms [15].…”

Section: A Natural and Energy-efficient Motionsmentioning

confidence: 99%

A Robotic Torso Joint With Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic Arrangement

Reinecke

Dietrich

Shu

et al. 2022

IEEE Robot. Autom. Lett.

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To be operated in unknown or complex environments, modern robots have to fulfill various challenging criteria. Among them, one finds requirements such as a high level of robustness to withstand impacts and the capabilities to physically interact in a safe manner. One way to achieve that is to integrate variable-stiffness actuators into the systems, enabling compliant behavior through the elastic components and providing the additional adaptability of the impedance. Here, we introduce a novel adjustable linear stiffness joint mounted in a differential-elastic arrangement. The mechanism is integrated into the anthropomorphic upper body of the DLR David robot and responsible for the spinal rotation. Consequently, the actuator is crucial for the overall workspace of the robot and the realization of energy-efficient natural motions such as in dynamic running. The proposed hardware setup is experimentally validated in terms of the linearity in the spring characteristics, intrinsic damping, the excitation of resonance frequencies, and the ability to alter these resonance frequencies through stiffness adaptation during dynamic motions.

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Section: A Natural and Energy-efficient Motionsmentioning

confidence: 99%

A Robotic Torso Joint With Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic Arrangement

Reinecke

Dietrich

Shu

et al. 2022

IEEE Robot. Autom. Lett.

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“…In most animals the mass of the leg is very important when performing the galloping movement, especially in quadrupeds with flexible trunks 26 . As mentioned earlier, the mass of the legs helps bending the trunk, allowing it to store and release elastic energy, which allows smoother movements and a more energy efficient gallop 25,27,32 . Therefore, in order to study the effect of the legs' masses in the dynamics, new models need to be developed.…”

mentioning

confidence: 95%

Comparison of leg dynamic models for quadrupedal robots with compliant backbone

Ricaurte

Pareja

Domínguez

et al. 2022

Sci Rep

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Many quadrupeds are capable of power efficient gaits, especially trot and gallop, thanks to their flexible trunk. The oscillations of the system that includes the backbone, the tendons and musculature, store and release elastic energy, helping a smooth deceleration and a fast acceleration of the hindquarters and forequarters, which improves the dynamics of running and its energy efficiency. Forelegs and hindlegs play a key role in generating the bending moment in the trunk. In this paper we present our studies aimed at modeling and reproducing such phenomena for efficient quadrupedal robot locomotion. We propose a model, called mass-mass-spring model, that overcomes the limitation of existing models, and demonstrate that it allows studying how the masses of the legs generate a flexing force that helps the natural bending of the trunk during gallop. We apply our model to six animals, that adopt two different galloping patterns (called transverse and rotatory), and compare their energy efficiency.

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Low Energy Consumption Quadrupedal Locomotion with Quasi-resonant Compliant Backbone

Ricaurte

Domínguez

Rossi

2022

Informatics in Control, Automation and Robotics

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A Bio-inspired Quasi-resonant Compliant Backbone for Low Power Consumption Quadrupedal Locomotion

Cited by 3 publications

References 0 publications

A Robotic Torso Joint With Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic Arrangement

A Robotic Torso Joint With Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic Arrangement

Comparison of leg dynamic models for quadrupedal robots with compliant backbone

Low Energy Consumption Quadrupedal Locomotion with Quasi-resonant Compliant Backbone

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