Dynamic Coupling as an Indicator of Gait Robustness for Underactuated Biped Robots

Fevre, Martin; Schmiedeler, James P.

doi:10.1109/icra40945.2020.9197203

Cited by 3 publications

(2 citation statements)

References 19 publications

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“…Because forces and moments pass from one leg to the next in the kinematics chain, dynamic coupling occurs. 15,16 The equations of motion for the proposed compliant leg robot have been derived using the Lagrangian-Euler dynamics 17 formulation and using Modified Denavit-Hartenberg’s (DH) coordinate representation. 14 It may be represented in vector-matrix form as follows:…”

Section: Quadruped Modelmentioning

confidence: 99%

Gait planning and optimization of an 18 DOF quadruped robot with compliant shanks

Singh,

Dutta

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Legged robots made of rigid links have disadvantages like poor energy efficiency and large impact forces during foot/terrain contact while walking on 3D uneven terrain. This paper proposes a unique design of an 18 DOF quadruped robot with compliant shanks. Compliance has been added to the quadruped by introducing a “c-section“ in the shank of each leg. The robot dynamics has been modeled using the projected Newton-Euler method, while the “Craig-Bampton Method” has been utilized to model the compliant shanks. Optimal body trajectory and foot placements while maintaining dynamic stability is obtained using an NLP based optimization strategy. A torque-based inverse dynamics control technique ensures that the quadruped follows the desired trajectory. The robot was simulated using Simscape Multibody, which utilizes the robot model’s “.stl,”“.step,” and “.xml” files to follow the optimized joint trajectories. The total energy consumed and joint torques are compared between the complaint and rigid link quadruped robots for walk on different types of terrain with different gaits and C-sections of 3, 4, 6, and 8 mm thickness. The simulation results show a significant reduction in joint torque spikes (more than 70% for all cases) due to the addition of compliance in each leg. This also leads to a reduction in total energy consumption during the walk especially over an uneven terrain. Hence, the results verify that the proposed design of quadruped is functionally more efficient than its rigid counterpart for walking on uneven terrain.

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Section: Quadruped Modelmentioning

confidence: 99%

Gait planning and optimization of an 18 DOF quadruped robot with compliant shanks

Singh,

Dutta

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…Through metastability, we are able to employ an important metric to quantify stochastic stability: mean first passage time (MFPT), which, in this context, is defined as the time at which the observed state of the legged system escapes a predefined region. In the literature, in addition to many other studies [10,12,13], for example, related to the search for a metric to measure the robustness of legged locomotion, [14] compares the robustness of gaits with varying coupling using MFPT.…”

Section: Introductionmentioning

confidence: 99%

Stochastic stability analysis of legged locomotion using unscented transformation

Er,

Ankarali

2023

Bioinspir. Biomim.

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In this manuscript, we present a novel method for estimating the stochastic stability characteristics of metastable legged systems using the unscented transformation. Prior methods for stability analysis in such systems often required high-dimensional state space discretization and a broad set of initial conditions, resulting in signiﬁcant computational complexity. Our approach aims to alleviate this issue by reducing the dimensionality of the system and utilizing the unscented transformation to estimate the output distribution. This technique allows us to account for multiple sources of uncertainty and high-dimensional system dynamics, while leveraging prior knowledge of noise statistics to inform the selection of initial conditions for experiments. As a result, our method enables the eﬃcient assessment of controller performance and analysis of parametric dependencies with fewer experiments. To demonstrate the eﬃcacy of our proposed method, we apply it to the analysis of a one-dimensional hopper and an underactuated bipedal walking simulation with a hybrid zero dynamics controller.

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A unified framework for measuring interplane and intraplane coupling in spatial biped robots

Fevre

Schmiedeler

2022

Auton Robot

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Dynamic Coupling as an Indicator of Gait Robustness for Underactuated Biped Robots

Cited by 3 publications

References 19 publications

Gait planning and optimization of an 18 DOF quadruped robot with compliant shanks

Gait planning and optimization of an 18 DOF quadruped robot with compliant shanks

Stochastic stability analysis of legged locomotion using unscented transformation

A unified framework for measuring interplane and intraplane coupling in spatial biped robots

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