Empirical validation of a spined sagittal-plane quadrupedal model

Abstract

Empirical validation of a spined sagittal-plane quadrupedal model AbstractWe document empirically stable bounding using an actively powered spine on the Inu quadrupedal robot, and propose a reduced-order model to capture the dynamics associated with this additional, actuated spine degree of freedom. This model is sufficiently accurate as to roughly describe the robots mass center trajectory during a bounding limit cycle, thus making it a potential option for low dimensional representations of spine actuation in steady-state legged locomotion. Disciplines Controls and Control Theory | Electrical and Computer Engineering | Engineering | RoboticsThis conference paper is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/786Empirical validation of a spined sagittal-plane quadrupedal model Jeffrey Duperret and Daniel E. Koditschek Abstract-We document empirically stable bounding using an actively powered spine on the Inu quadrupedal robot, and propose a reduced-order model to capture the dynamics associated with this additional, actuated spine degree of freedom. This model is sufficiently accurate as to roughly describe the robots mass center trajectory during a bounding limit cycle, thus making it a potential option for low dimensional representations of spine actuation in steady-state legged locomotion.

Decentralized control mechanism for body–limb coordination in quadruped running

“…The present study brings a new insight to the sensory feedback mechanism to adaptively generate body-limb locomotion patterns that exploit spine motions in an efficient manner. In the previous reflex-based models (C xulha & Saranli, 2011;Duperret & Koditschek, 2017;Wang & Wang, 2016;Wei et al, 2015), sensory informations (i.e. touch-down and lift-off events) have regulated the limb and spine movements.…”

“…Reflex-based models were proposed to provide adaptability (C xulha & Saranli, 2011;Duperret & Koditschek, 2017;Wang & Wang, 2016;Wei, Long, Wang, & Wang, 2015). These models describe the bounding or galloping gait with specific states, for example, no contact state (flying phase) and stance state with hind or/and forelimb, as modeled by Raibert, Chepponis, and Brown (1986) and Papadopoulos and Buehler (2000) for running with interlimb coordination only.…”

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

“…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.…”

“…Apart from the one DOF model, the spines were modeled as point masses in these works. On the other hand, robots such as Sevel [3], INU [2] be longer while maintaining its orientation during bounding. However, reduced order models were used when constructing the empirical model of the robot.…”

“…However, reduced order models were used when constructing the empirical model of the robot. Moreover, in [2], the legs were assumed to be massless, which result in large reality gaps. From a practical standpoint, we cannot use the approaches mentioned above, due to the fact that the spine models cannot be reduced or approximated, and the legs have significant masses (by upto 25%) in the real hardware.…”