Locomotion. Dynamic Locomotion One, Four and Six-Legged Robots.

Buehler, M.; Saranlı, Uluç; Papadopoulos, D.P.; Koditschek, Daniel E.

doi:10.7210/jrsj.20.237

Cited by 57 publications

(43 citation statements)

References 21 publications

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“…There have been a number of locomotion studies in terms of use of material properties and selfstabilization mechanisms in biomechanics (Kubow and Full, 1999, and for review, Blickhan et al, 2003), and in robotics (e.g. Raibert, 1986, Buehler, 2002. These studies are closely related to our own work.…”

Section: Cheap Rapid Locomotion -The Quadruped "Puppy"mentioning

confidence: 50%

New Robotics: Design Principles for Intelligent Systems

2005

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New Robotics designates an approach to robotics that, in contrast to traditional robotics, employs ideas and principles from biology. While in the traditional approach there are generally accepted methods (e.g. from control theory), designing agents in the New Robotics approach is still largely considered an art. In recent years, we have been developing a set of heuristics or design principles, that on the one hand capture theoretical insights about intelligent -adaptive -behavior, and on the other provide guidance in actually designing and building systems. In this paper we provide an overview of all the principles but focus on the principles of "ecological balance" which concerns the relation between environment, morphology, materials, and control, and "sensory-motor coordination" which concerns self-generated sensory stimulation as the agent interacts with the environment and which is a key to the development of high-level intelligence. As we will argue, artificial evolution together with morphogenesis is not only "nice to have" but is in fact a necessary tool for designing embodied agents.

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Section: Cheap Rapid Locomotion -The Quadruped "Puppy"mentioning

confidence: 50%

New Robotics: Design Principles for Intelligent Systems

2005

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“…Based on biomechanical studies, the legged systems have been investigated, which explained the elastic components in the legs can provide the property of self-stabilization during locomotion process [14][15][16][17][18]. An interesting aspect of this approach is that the cheap design (i.e.…”

Section: Introductionmentioning

confidence: 99%

Self-Stabilization and Behavioral Diversity of Embodied Adaptive Locomotion

Iida

Pfeifer

2004

Lecture Notes in Computer Science

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Abstract. Locomotion is of fundamental importance in understanding adaptive behavior. In this paper we present two case studies of robot locomotion that demonstrate how higher level of behavioral diversity can be achieved while observing the principle of cheap design. More precisely, it is shown that, by exploiting the dynamics of the system-environment interaction, very simple controllers can be designed which is essential to achieve rapid locomotion. Special consideration must be given to the choice of body materials. We conclude with some speculation about the importance of locomotion for understanding cognition.

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“…where P is the output power, m is the total weight, and v is the walking speed [13]. This measure allows for the comparison of different locomotion machines with respect to the energetic performance.…”

Section: Specific Resistancementioning

confidence: 99%

Energy-efficacy comparisons and multibody dynamics analyses of legged robots with different closed-loop mechanisms

Komoda

Wagatsuma

2016

Multibody Syst Dyn

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As for biological mechanisms, which provide a specific functional behavior, the kinematic synthesis is not so simply applicable without deep considerations on requirements, such as the ideal trajectory, fine force control along the trajectory, and possible minimization of the energy consumption. An important approach is the comparison of acknowledged mechanisms to mimic the function of interest in a simplified manner. It helps to consider why the motion trajectory is generated as an optimum, arising from a hidden biological principle on adaptive capability for environmental changes. This study investigated with systematic methods of forward and inverse kinematics known as multibody dynamics (MBD) before going to the kinematic synthesis to explore what the ideal end-effector coordinates are. In terms of walking mechanisms, there are well-known mechanisms, yet the efficacy is still unclear. The Chebyshev linkage with four links is the famous closed-loop system to mimic a simple locomotion, from the 19th century, and recently the Theo Jansen mechanism bearing 11 linkages was highlighted since it exhibited a smooth and less-energy locomotive behavior during walking demonstrations in the sand field driven by wind power. Coincidentally, Klann (1994) emphasized his closed-loop linkage with seven links to mimic a spider locomotion. We applied MBD to three walking linkages in order to compare factors arising from individual mechanisms. The MBD-based numerical computation demonstrated that the Chebyshev, Klann, and Theo Jansen mechanisms have a common property in acceleration control during separate swing and stance phases to exhibit the walking behavior, while they have different tendencies in the total energy consumption and energy-efficacy measured by the 'specific resistance'. As a consequence, this study for the first time revealed that specific resistances of three linkages exhibit a proportional relationship to the walking speed, which is consistent with human walking and running, yet interestingly it is not consistent with older walking machines, like ARL monopod I, II. The results imply a similarity between biological evolution and robot design, in that the Chebyshev mechanism provides the simplest walking motion with fewer linkages and the Theo Jansen mechanism realizes a fine profile of force changes along the trajectory to reduce the energy consumption acceptable for a large body size by increasing the number of links.

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Locomotion. Dynamic Locomotion One, Four and Six-Legged Robots.

Cited by 57 publications

References 21 publications

New Robotics: Design Principles for Intelligent Systems

New Robotics: Design Principles for Intelligent Systems

Self-Stabilization and Behavioral Diversity of Embodied Adaptive Locomotion

Energy-efficacy comparisons and multibody dynamics analyses of legged robots with different closed-loop mechanisms

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