Benefits of an active spine supported bounding locomotion with a small compliant quadruped robot

Khoramshahi, Mahdi; Spröwitz, Alexander; Tuleu, Alexandre; Ahmadabadi, Majid Nili; Ijspeert, Auke Jan

doi:10.1109/icra.2013.6631041

Cited by 81 publications

(54 citation statements)

References 20 publications

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“…Results of that simulation justified our hypothesis that the energy efficiency can be improved using nonlinear spine compliance. Moreover, we are in the process of experimenting our ideas on a real robot; see [20,21]. Also check [38] for more discussions on the nonlinear compliance in robotic applications.…”

Section: Modeling and Methodologymentioning

confidence: 99%

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Piecewise linear spine for speed–energy efficiency trade-off in quadruped robots

Khoramshahi

Bidgoly

Shafiee

et al. 2013

Robotics and Autonomous Systems

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h i g h l i g h t s• Effects of flexible spine on performance of bounding quadrupeds are studied.• Superiority of nonlinear spines over linear ones is shown.• High performance is explained by energy storage-release profile of nonlinear springs.• Results are justified through a behavioral analogy with biology. a r t i c l e i n f o t r a c tWe compare the effects of linear and piecewise linear compliant spines on locomotion performance of quadruped robots in terms of energy efficiency and locomotion speed through a set of simulations and experiments. We first present a simple locomotion system that behaviorally resembles a bounding quadruped with flexible spine. Then, we show that robots with linear compliant spines have higher locomotion speed and lower cost of transportation in comparison with those with rigid spine. However, in linear case, optimal speed and minimum cost of transportation are attained at very different spine compliance values. Moreover, it is verified that fast and energy efficient locomotion can be achieved together when the spine flexibility is piecewise linear. Furthermore, it is shown that the robot with piecewise linear spine is more robust against changes in the load it carries. Superiority of piecewise linear spines over linear and rigid ones is additionally confirmed by simulating a quadruped robot in Webots and experiments on a crawling two-parts robot with flexible connection.

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Section: Modeling and Methodologymentioning

confidence: 99%

“…For another comparative research between rigid and flexible spine see [19]. Recently we introduced Bobcat, a small-size quadruped robot with flexible spine [20] (see Fig. 1(b)).…”

Section: Introductionmentioning

confidence: 99%

Piecewise linear spine for speed–energy efficiency trade-off in quadruped robots

Khoramshahi

Bidgoly

Shafiee

et al. 2013

Robotics and Autonomous Systems

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“…It was able to perform stable locomotion in different motion patterns. With focus on leg design, robot platforms such as Scout II [3], Cheetah-cub robot [4], and Bobcat-robot [5] perform in different classes of speed and cost of transport (Table I). Videos published by the development teams show the MIT Cheetah (v = 6.1m/s [6]) and the Boston Dynamics Cheetah (v = 12.6m/s / no other scientific data available) or the Boston Dynamics Wildcat (7.15m/s/ no other scientific data available) give new outlines of maximum speed reachable in legged-robotics.…”

Section: Introductionmentioning

confidence: 99%

Comparing the effect of different spine and leg designs for a small bounding quadruped robot

Eckert

Spröwitz

Witte

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-We present Lynx-robot, a quadruped, modular, compliant machine. It alternately features a directly actuated, single-joint spine design, or an actively supported, passive compliant, multi-joint spine configuration. Both spine configurations bend in the sagittal plane. This study aims at characterizing these two, largely different spine concepts, for a bounding gait of a robot with a three segmented, pantograph leg design. An earlier, similar-sized, bounding, quadruped robot named Bobcat with a two-segment leg design and a directly actuated, single-joint spine design serves as a comparison robot, to study and compare the effect of the leg design on speed, while keeping the spine design fixed. Both proposed spine designs (single rotatory and active and multi-joint compliant) reach moderate, self-stable speeds.

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“…The design of power-autonomous quadrupeds utilizing parallel stiffness is presented in [9] and [10]. Other experiments have suggested increased running speed [11] and gait transition stability [12]. Leaping from a crouched position with a parallel elastic-actuated spine was shown to increase leap energy in [13].…”

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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Benefits of an active spine supported bounding locomotion with a small compliant quadruped robot

Cited by 81 publications

References 20 publications

Piecewise linear spine for speed–energy efficiency trade-off in quadruped robots

Piecewise linear spine for speed–energy efficiency trade-off in quadruped robots

Comparing the effect of different spine and leg designs for a small bounding quadruped robot

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

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