Model-based dynamic gait in a quadruped robot with waist actuation

Chen, Chung-Li; Wang, Tso-Kang; Hu, Ching-Piao; Lin, Pei-Chun

doi:10.1109/iros.2016.7759323

Cited by 5 publications

(5 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Beyond their fundamental relevance as a possible explanation for the pronking and bounding behaviour during an escape run, our results have applicative implications for robotic exploration. Robots designers look for bioinspiration in the animal world to realize robots with stable dynamic motions [ 17 , 20 , 24 , 39 ]. Developing control methods able to give legged robots the ability to move with agility and versatile gaits, such as real animals do, is still one of the grand challenges for robot engineers.…”

Section: Discussionmentioning

confidence: 99%

“…The investigation of animal gaits has bio-mimetic applications to the development of robots with versatile motion, able to adapt to different needs [17][18][19][20][21][22][23]. Pronking is one of the most-studied gaits, as it allows for obtaining a fast and stable motion with a limited number of control parameters, due to the fact that all the legs are parallel and move in phase [18,[24][25][26][27].…”

mentioning

confidence: 99%

See 1 more Smart Citation

Pronking and bounding allow a fast escape across a grassland populated by scattered obstacles

Righini,

Carpineti,

Giavazzi

et al. 2023

R. Soc. open sci.

View full text Add to dashboard Cite

Some quadrupeds have evolved the ability of pronking, which consists in leaping by extending the four limbs simultaneously. Pronking is typically observed in some ungulate species inhabiting grassland populated by obstacles such as shrubs, rocks and fallen branches scattered across the environment. Several possible explanations have been proposed for this peculiar behaviour, including the honest signalling of the fitness of the individual to predators or the transmission of a warning alert to conspecifics, but so far none of them has been advocated as conclusive. In this work, we investigate the kinematics of pronking on a two-dimensional landscape populated by randomly scattered obstacles. We show that when the density of obstacles is larger than a critical threshold, pronking becomes the gait that maximizes the probability of trespassing in the shortest possible time all the obstacles distributed across the distance fled, and thus represents an effective escape strategy based on a simple open-loop control. The transition between pronking and more conventional gaits such as trotting and galloping occurs at a threshold obstacle density and is continuous for a non-increasing monotone distribution of the height of obstacles, and discrete when the distribution is peaked at a non-zero height. We discuss the implications of our results for the autonomous robotic exploration on unstructured terrain.

show abstract

Section: Discussionmentioning

confidence: 99%

mentioning

confidence: 99%

Pronking and bounding allow a fast escape across a grassland populated by scattered obstacles

Righini,

Carpineti,

Giavazzi

et al. 2023

R. Soc. open sci.

View full text Add to dashboard Cite

show abstract

“…The other module has two active DOFs that can actively change relative configuration between the bodies mounted on both sides of the module. Thus, when the TWIX robot uses this module, it is a quadruped with active waist motion, and the initial result of the robot using the pitch DOF for dynamic motion can be found in [28].…”

Section: The Robot Hardwarementioning

confidence: 99%

A Torque-actuated dissipative spring loaded inverted pendulum model with rolling contact and Its application to hexapod running

Wang²,

Huang

et al. 2019

Bioinspir. Biomim.

View full text Add to dashboard Cite

We report on the development and analysis of a new torque-actuated dissipative spring loaded inverted pendulum model with rolling contact (TDR-SLIP), which is a successor to the previously developed spring loaded inverted pendulum model with rolling contact (R-SLIP) model. The stability properties of the models were analyzed numerically via steps-to-fall analysis and return map analysis, wherein the dimensionless parameters are varied to analyze their effects on the dynamic performance of the model, including torque, damping constant, spring constant, touchdown angle, touchdown speed, and landing angle. Because the involvement of torque and damping in the TDR-SLIP model is similar to other recently developed torque-actuated dissipative spring loaded inverted pendulum studies, their performance was compared so that the unique features of the TDR-SLIP model, such as rolling contact, could be investigated. To undertake the comparison, a method for yielding parameter equivalency between these two models is also reported. In addition to its analytical role, the TDR-SLIP model served as a template to initiate the stable running behavior of the empirical robot acted as the anchor. Two sets of legs were evaluated-the original compliant halfcircular leg of the robot and the new mechanical legs, which resemble the morphology of the TDR-SLIP model. Two types of control strategies were tested-position-based control and hybrid control. The experimental results reveals that the low-damped compliant half-circular leg and the mechanical leg match the behaviors of the R-SLIP model and the TDR-SLIP model, respectively, and the robot with hybrid control performs more stably and more closely to the model profile. In addition, when the robot's motion follows the template's stable dynamics, the energy cost of the leg in stance can be significantly lower than that in flight.

show abstract

“…where 2 R( x ) is the axial load of a point of the Bernoulli beam located at 2 x and 2 y is the elementary displacement which can be given by (10) where i φ is the Hermite spline functions and i U ( t ) is the movement (translation or rotation) of each fictitious joint of the flexible arm [16]. In order to simplify its dynamic modelling, the flexible arm is assumed to be divided into four elements.…”

Section: B Dynamic Modelingmentioning

confidence: 99%

“…The importance of robot manipulators lies in the variety of its structures on the one hand [1], [2] and on the other hand in the variety of its fields of application in the modern industry [3], [4]. In recent decades, the use of flexible bodies in the manipulators robots structure has triggered a great interest in the control domain [5].…”

Section: Introductionmentioning

confidence: 99%

On the dynamic modelling and simulation of rigid-flexible manipulator robot using several inputs

Zribi

Tlijani

Knani

et al. 2017

2017 4th International Conference on Control, Decision and Information Technologies (CoDIT)

View full text Add to dashboard Cite

Abstract-The purpose of this paper is to develop a dynamic model of a rigid-flexible manipulator robot with a load on its endpoint using Euler-Lagrange formulation. In order to test the performance of the studied system, several mathematical functions are used as motion profile. It choice is very important because it affects the robot's performance. Different factors intervene in this choice. However, the most important is the torque's continuity and the movement's smoothness. Numerical simulations show the robustness of the dynamic model of the studied system for several motions profiles.

show abstract

Model-based dynamic gait in a quadruped robot with waist actuation

Cited by 5 publications

References 19 publications

Pronking and bounding allow a fast escape across a grassland populated by scattered obstacles

Pronking and bounding allow a fast escape across a grassland populated by scattered obstacles

A Torque-actuated dissipative spring loaded inverted pendulum model with rolling contact and Its application to hexapod running

On the dynamic modelling and simulation of rigid-flexible manipulator robot using several inputs

Contact Info

Product

Resources

About