Adaptive Swing Leg Retraction Control for Robust Dynamic Locomotion Under Large Terrain Variations

Gaathon, Adar; Degani, Amir

doi:10.1142/9789813149137_0044

Cited by 3 publications

(1 citation statement)

References 9 publications

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“…Adar Gaathon et al proposed an adaptation algorithm that automatically tunes the SLR control parameters to maintain both desire relative height and stability in rough terrain. This leaded to stable traversing with much broader range of tolerated ground height perturbations when compared with the native SLR open‐loop control (Gaathon & Degani, 2017). Besides, an optimal SLR rate has been addressed for improving the locomotion performance.…”

Section: Introductionmentioning

confidence: 99%

Optimization and evaluation of swing leg retraction for a hydraulic biped robot

Chen

Wei

et al. 2023

Journal of Field Robotics

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To improve the locomotion performance of legged robots, the swing leg retraction (SLR) technique is investigated in a hydraulic biped robot. First, the influence of SLR on the locomotion performance of the hydraulic biped robot is analyzed in theory and simulations based on an extended spring load inverted pendulum model. The influence contains three performance indicators: energy loss/effiency, friction/ slipping, and impact/compliance. Second, by synthesizing three performance indicators, using unified objective method and particle swarm optimization algorithm, the optimal SLR rate for gait planning based on Bezier curve is addressed.Finally, experiments are implemented to validate the effectiveness and feasibility of proposed method. And, the results show that the SLR technique is useful to reduce the impact force, improve the robot's locomotion stability and make room for impedance performance improvement of compliance controller. This research provides an insight for locomotion control of hydraulic legged robots.

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Section: Introductionmentioning

confidence: 99%

Optimization and evaluation of swing leg retraction for a hydraulic biped robot

Chen

Wei

et al. 2023

Journal of Field Robotics

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Design of a Minimalistic Torque Actuated Variable Rolling SLIP Leg for Robust Locomotion

Paul

Gaathon

Degani

2022

Lecture Notes in Networks and Systems

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Optimizing and designing a leg shape to increase robustness of a running robot on rough terrain

Gaathon¹,

Degani²

2022

Bioinspir. Biomim.

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The superior ability of dynamic legged locomotion in traversing rough terrain relative to wheeled or tracked mechanisms comes with the cost of fragile stability. Simple control methods that use only a few basic detection sensors and apply a single controller help robots keep their balance when traversing unforeseen rough terrain. Exploiting multiple controllers simultaneously, such as the free leg length and stiffness in our hopping monopod, can further improve robustness but is often mechanically hard to implement. This work demonstrates that a curved leg shape can improve the robustness of a robot to perturbations in both terrain levels and initial horizontal velocity without complicating the control scheme. Our work develops Spring Loaded Inverted Pendulum (SLIP) based models that manifest the coupling of the leg’s parameters and capture the rolling motion. We use these models to find an optimal combination of parameters that maximizes a measure for long-term stability – reaching a desired relative height above terrain. We demonstrate that when traversing unknown rough terrain, such optimal coupling can increase robustness to perturbations in the initial horizontal velocity by 93% relative to the optimal conventional SLIP model. We further demonstrate our results in experiments.

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Adaptive Swing Leg Retraction Control for Robust Dynamic Locomotion Under Large Terrain Variations

Cited by 3 publications

References 9 publications

Optimization and evaluation of swing leg retraction for a hydraulic biped robot

Optimization and evaluation of swing leg retraction for a hydraulic biped robot

Design of a Minimalistic Torque Actuated Variable Rolling SLIP Leg for Robust Locomotion

Optimizing and designing a leg shape to increase robustness of a running robot on rough terrain

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