Effect of Flexible Spine Motion on Energy Efficiency in Quadruped Running

Chen, Dongliang; Li, Ningjie; Wang, Hong; Chen, Lei

doi:10.1016/s1672-6529(16)60436-5

Cited by 25 publications

(14 citation statements)

References 13 publications

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“…Under the same conditions, the bounding gait with a fixed head is unstable. When the head of the simulation model is active as shown in Figure 6, the average velocity is 0.92 m s 21 , and when the head is fixed as shown in Figure 7, the average velocity is 0.67 m s 21 . This is mainly due to the unstable movement of the fixed head under the same gait parameters, resulting in an uneven step size.…”

Section: Simulation Resultsmentioning

confidence: 99%

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The effect of head movement on the bounding gait of a quadruped robot with an active spine

Chen

Gong

Xing

et al. 2019

Advances in Mechanical Engineering

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It is a common phenomenon in the movement of the quadruped mammals accompanied with head swings. Inspired by this, this article attempts to add head motion to the bounding gait of a quadruped robot. According to the theoretical analysis, there are two main functions of the head. First, the head can realize the active control of the center of mass position of the robot, which is of great significance to the stable motion of the robot. Second, the swing of the head plays a role in regulating the pitch angle of the torso and improves the coordination and stability of the motion. A simplified quadruped robot model with a head and spine joint is established and analyzed theoretically. The regularity of head movement in periodic bounding gait is summarized. Through simulation and experiment, we confirm the two roles of the head in the bounding gait of a quadruped robot.

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Section: Simulation Resultsmentioning

confidence: 99%

“…The design of this prototype is based on the robot we have developed previously. 21 And some excellent quadruped robots' designs 22,23 are adopted. The robot is built mainly from three-dimensionally (3D) printed ABS (acrylonitrile butadiene styrene) plastic, bakelite board.…”

Section: Methodsmentioning

confidence: 99%

The effect of head movement on the bounding gait of a quadruped robot with an active spine

Chen

Gong

Xing

et al. 2019

Advances in Mechanical Engineering

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“…Inspired by body-limb coordination in quadrupeds, roboticists have developed legged robots that can exploit a flexible and/or actuated spine during bounding and galloping. For example, some researchers focused on understanding the effects of a flexible spine on producing faster locomotion patterns (Cao & Poulakakis, 2016;Chen, Li, Wang, & Chen, 2017;Deng, Wang, Xu, Mo, & Liang, 2012;Khoramshahi, Bidgoly, Shafiee, Asaei, Ijspeert, & Ahmadabadi, 2013a;Wang, Zhang, Wei, Long, & Wang, 2017). So far, simulations and hardware experiments have revealed that bending and extension of the spine can increase horizontal excursion of the foot and can store energy in its elastic element.…”

Section: Related Workmentioning

confidence: 99%

Decentralized control mechanism for body–limb coordination in quadruped running

et al. 2019

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As a mechanism for survival, quadrupeds have obtained skills involving coordination between limbs and the body (i.e. body–limb coordination), providing fast and adaptive locomotion compared with motion using only limbs. Several bio-inspired robotics studies have resulted in the development of legged robots that utilize a flexible spine, similar to cheetahs. However, the control principle of body–limb coordination has not been established to date. From the perspective of a decentralized control scheme, a minimal body–limb coordination mechanism is proposed in this study, in which body parts aid each other via a sensory feedback mechanism. The two-dimensional simulation and hardware experiments reveal that bilateral sensory feedback between limbs and body is essential for the robot to adaptively generate a body–limb coordination pattern and achieve faster locomotion speed than that by only limbs in efficient manner.

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“…There have been quite a few quadruped robots having passive or active spine in their structure, namely, BobCat, Sevel, MIT Cheetah, INU [2], [3], [4], [5], [6]. There is a large body of work over planer spine models with one DOF revolute [7], [8], [9], and prismatic [10] joints.…”

Section: Introductionmentioning

confidence: 99%

“…To address the above issues and to develop an accurate model of the robot and environment, researchers began to use high fidelity physics engine based simulators [11], [12], [13] to simulate the robot and environment model. Works such as [4], [14], [6], [15], [16] have pursued this approach to bridge the gap between theory and experiment. Despite these tools, the results obtained with these simulators still required a noticeable amount of manual tuning and intervention to deploy on hardware.…”

Section: Introductionmentioning

confidence: 99%

Learning Active Spine Behaviors for Dynamic and Efficient Locomotion in Quadruped Robots

Bhattacharya

Singla

Abhimanyu

et al. 2019

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

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In this work, we provide a simulation framework to perform systematic studies on the effects of spinal joint compliance and actuation on bounding performance of a 16-DOF quadruped spined robot Stoch 2. Fast quadrupedal locomotion with active spine is an extremely hard problem, and involves a complex coordination between the various degrees of freedom. Therefore, past attempts at addressing this problem have not seen much success. Deep-Reinforcement Learning seems to be a promising approach, after its recent success in a variety of robot platforms, and the goal of this paper is to use this approach to realize the aforementioned behaviors. With this learning framework, the robot reached a bounding speed of 2.1 m/s with a maximum Froude number of 2. Simulation results also show that use of active spine, indeed, increased the stride length, improved the cost of transport, and also reduced the natural frequency to more realistic values.

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Effect of Flexible Spine Motion on Energy Efficiency in Quadruped Running

Cited by 25 publications

References 13 publications

The effect of head movement on the bounding gait of a quadruped robot with an active spine

The effect of head movement on the bounding gait of a quadruped robot with an active spine

Decentralized control mechanism for body–limb coordination in quadruped running

Learning Active Spine Behaviors for Dynamic and Efficient Locomotion in Quadruped Robots

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