A bioinspired dynamical vertical climbing robot

Lynch, Goran A.; Clark, Jonathan E.; Lin, Pei-Chun; Koditschek, Daniel E.

doi:10.1177/0278364912442096

Cited by 95 publications

(64 citation statements)

References 47 publications

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“…This means that for specific energy to remain performance limiting, specific power must scale according to l 1 . This is in sharp contrast to [49] where specific power scales according to l 0.5 in support of maintaining dynamic similarity with respect to the pendulous motion of a swinging body characteristic of certain animal climbers [50].…”

Section: Appendix 2: Energy and Power Density For Legged Em Actuatorsmentioning

confidence: 82%

Towards a Comparative Measure of Legged Agility

Duperret

Kenneally

Pusey

et al. 2015

Experimental Robotics

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We introduce an agility measure enabling the comparison of two very different leaping-from-rest transitions by two comparably powered but morphologically different legged robots. We use the measure to show that a flexible spine outperforms a rigid back in the leaping-from-rest task. The agility measure also sheds light on the source of this benefit: core actuation through a sufficiently powerful parallel elastic actuated spine outperforms a similar power budget applied either only to preload the spine or only to actuate the spine during the leap, as well as a rigid backed configuration of the identical machine. Abstract. We introduce an agility measure enabling the comparison of two very di↵erent leaping-from-rest transitions by two comparably powered but morphologically di↵erent legged robots. We use the measure to show that a flexible spine outperforms a rigid back in the leapingfrom-rest task. The agility measure also sheds light on the source of this benefit: core actuation through a su ciently powerful parallel elastic actuated spine outperforms a similar power budget applied either only to preload the spine or only to actuate the spine during the leap, as well as a rigid backed configuration of the identical machine. Disciplines Electrical and Computer Engineering | Engineering | Systems Engineering

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Section: Appendix 2: Energy and Power Density For Legged Em Actuatorsmentioning

confidence: 82%

Towards a Comparative Measure of Legged Agility

Duperret

Kenneally

Pusey

et al. 2015

Experimental Robotics

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“…Climbing has also been studied in robots (56)(57)(58)(59)(60), in particular the impressive climbing abilities of gecko lizards that exhibit directional dry adhesion under their feet (61). On the basis of an analysis of the feet and the small hairs that provide directional adhesive to the gecko, the toes of a lizard-like robot (Fig.…”

Section: Climbingmentioning

confidence: 99%

Biorobotics: Using robots to emulate and investigate agile locomotion

Ijspeert

2014

Science

404

220

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Abstract:The graceful and agile movements of animals are difficult to analyze and emulate because locomotion is the result of a complex interplay of many components: the central and peripheral nervous systems, the musculoskeletal system, and the environment. The goals of biorobotics are to take inspiration from biological principles to design robots that match the agility of animals, and to use robots as scientific tools to investigate animal adaptive behavior. Used as physical models, biorobots contribute to hypothesis testing in fields such as hydrodynamics, biomechanics, neuroscience, and prosthetics. Their use may contribute to the design of prosthetic devices that more closely take human locomotion principles into account.

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“…This, of course, does fly in the face of physical reality [25,26], and power limitations are well understood to play a critical role in fast moving legged robot limbs [27,28]. Fortunately, here much of the action takes place at relatively low limb speeds, and so there is relatively little back EMF to substantially reduce the output torque.…”

Section: Hybrid Hamiltonian Dynamics Over the Ground Reaction Commentioning

confidence: 99%

Toward a vocabulary of legged leaping

Johnson

Koditschek

2013

2013 IEEE International Conference on Robotics and Automation

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Toward a Vocabulary of Legged Leaping AbstractAs dynamic robot behaviors become more capable and well understood, the need arises for a wide variety of equally capable and systematically applicable transitions between them. We use a hybrid systems framework to characterize the dynamic transitions of a planar "legged" rigid body from rest on level ground to a fully aerial state. The various contact conditions fit together to form a topologically regular structure, the "ground reaction complex". The body's actuated dynamics excite multifarious transitions between the cells of this complex, whose regular adjacency relations index naturally the resulting "leaps" (path sequences through the cells from rest to free flight). We exhibit on a RHex robot some of the most interesting "words" formed by these achievable path sequences, documenting unprecedented levels of performance and new application possibilities that illustrate the value of understanding and expressing this vocabulary systematically. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/662 Toward a Vocabulary of Legged LeapingAaron M. Johnson and D. E. Koditschek Abstract-As dynamic robot behaviors become more capable and well understood, the need arises for a wide variety of equally capable and systematically applicable transitions between them. We use a hybrid systems framework to characterize the dynamic transitions of a planar "legged" rigid body from rest on level ground to a fully aerial state. The various contact conditions fit together to form a topologically regular structure, the "ground reaction complex". The body's actuated dynamics excite multifarious transitions between the cells of this complex, whose regular adjacency relations index naturally the resulting "leaps" (path sequences through the cells from rest to free flight). We exhibit on a RHex robot some of the most interesting "words" formed by these achievable path sequences, documenting unprecedented levels of performance and new application possibilities that illustrate the value of understanding and expressing this vocabulary systematically.

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A bioinspired dynamical vertical climbing robot

Cited by 95 publications

References 47 publications

Towards a Comparative Measure of Legged Agility

Towards a Comparative Measure of Legged Agility

Biorobotics: Using robots to emulate and investigate agile locomotion

Toward a vocabulary of legged leaping

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