On the Dynamics of Bounding and Extensions: Towards the Half-Bound and Gallop Gaits

Poulakakis, Ioannis; Smith, John; Buehler, M.

doi:10.1007/4-431-31381-8_8

Cited by 32 publications

(29 citation statements)

References 10 publications

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“…The experiments with galloping robots demonstrate an emergent stability as a characteristic of gallop, which is thus constrained to the sagittal plane in transverse gallop. This research has also confirmed findings from simulations that rotary gallop has a tendency to generate circular trajectories (Poulakakis et al, 2006;Smith and Poulakakis, 2004). From these results, we argue that CPGs of cursorial mammals could potentially produce all the running gaits, from bound and half-bound to rotary gallop and transverse gallop.…”

Section: Quadruped Gallop Controlsupporting

confidence: 86%

Biomechanical determinants of transverse and rotary gallop in cursorial mammals

Biancardi

Minetti

2012

Journal of Experimental Biology

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SUMMARYTransverse and rotary gallop differ in the placement of the leading hindfeet and forefeet: ipsilateral in the former gait, contralateral in the latter. We analysed 351 filmed sequences to assess the gallop type of 89 investigated mammalian species belonging to Carnivora, Artiodactyla and Perissodactyla orders. Twenty-three biometrical, ecological and physiological parameters were collected for each species both from literature data and from animal specimens. Most of the species showed only one kind of gallop: transverse (42%) or rotary (39%), while some species performed rotary gallop only at high speed (19%). In a factorial analysis, the first principal component (PC), which accounted for 40% of the total variance, was positively correlated to the relative speed and negatively correlated to size and body mass. The second PC was correlated to the ratio between distal and proximal limb segments. Large size and longer proximal limb segments were associated with transverse gallop, while rotary and speed-dependent species showed higher metacarpus/humerus and metatarsus/femur length ratio and faster relative speeds. The resulting limb excursion angles were proportional to the square-root of the Froude number, and significantly higher in rotary gallopers. The gait pattern analysis indicated significant differences between transverse and rotary gallop in forelimb and hindlimb duty factor (t-test; P<0.001), and in duration of the forelimb contact (t-test; P0.045). Our results show that an exclusive gallop gait is adopted by a large number of mammalian species, and indicate that the gallop pattern depends on diverse environmental, morphometrical and biomechanical characters.

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Section: Quadruped Gallop Controlsupporting

confidence: 86%

Biomechanical determinants of transverse and rotary gallop in cursorial mammals

Biancardi

Minetti

2012

Journal of Experimental Biology

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“…Since the running speed can be stabilized using the constant touchdown angle, self-stabilization (Blickhan 1989;Full & Koditschek 1999;Cham et al 2004;Poulakakis et al 2005) at musculoskeleton is also involved in (ii). As the examples of the method (iii), we employed a 'response' as modulation of the CPG phase as described in §2e.…”

Section: Jindrichmentioning

confidence: 99%

Biologically inspired adaptive walking of a quadruped robot

Kimura

Fukuoka

Cohen

2006

Phil. Trans. R. Soc. A.

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We describe here the efforts to induce a quadruped robot to walk with medium-walking speed on irregular terrain based on biological concepts. We propose the necessary conditions for stable dynamic walking on irregular terrain in general, and we design the mechanical and the neural systems by comparing biological concepts with those necessary conditions described in physical terms. PD-controller at joints constructs the virtual spring-damper system as the viscoelasticity model of a muscle. The neural system model consists of a central pattern generator (CPG), reflexes and responses. We validate the effectiveness of the proposed neural system model control using the quadruped robots called 'Tekken1&2'. MPEG footage of experiments can be seen at http://www.kimura.is.uec.ac.jp.

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“…Compared to the two-phase control scheme, which is widely employed in many hopping robots (e.g. [7], [8], [9], [10], [12]), the proposed open-loop control scheme introduces three major arguments which could be essential for our comprehensive understanding of legged locomotion. Firstly, the flow of information is unidirectional and there is no signal feedback loop running all through the legs and the body, but the loop is only local, i.e.…”

Section: Discussionmentioning

confidence: 99%

“…During the stance phase, the robot controls for the problems (1) and (2), and during the flight phase, the problem (3) is dealt with. By following these design principles, it has been shown that monopod, biped, quadruped and hexapod robots were able to maintain the balance and control the forward velocity only by regulating the appropriate angle of attack at touchdown during a flight phase [9], [10], [11], [12], [13]. All these studies are based on a method in which there are two independent control phases, thus the robot needs to identify the flight/stance phase at every computational step by using contact detectors on the feet.…”

Section: Introductionmentioning

confidence: 99%

Exploiting body dynamics for controlling a running quadruped robot

Iida¹,

Gomez²,

Pfeifer³

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.

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Abstract-Exploiting the body dynamics to control the behavior of robots is one of the most challenging issues, because the use of body dynamics has a significant potential in order to enhance both complexity of the robot design and the speed of movement. In this paper, we explore the control strategy of rapid four-legged locomotion by exploiting the intrinsic body dynamics. Based on the fact that a simple model of four-legged robot is known to exhibit interesting locomotion behavior, this paper analyzes the characteristics of the dynamic locomotion for the purpose of the locomotion control. The results from a series of running experiments with a robot show that, by exploiting the unique characteristics induced by the body dynamics, the forward velocity can be controlled by using a very simple method, in which only one control parameter is required. Furthermore it is also shown that a few of such different control parameters exist, each of them can control the forward velocity. Interestingly, with these parameters, the robot exhibits qualitatively different behavior during the locomotion, which could lead to our comprehensive understanding toward the behavioral diversity of adaptive robotic systems.

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On the Dynamics of Bounding and Extensions: Towards the Half-Bound and Gallop Gaits

Cited by 32 publications

References 10 publications

Biomechanical determinants of transverse and rotary gallop in cursorial mammals

Biomechanical determinants of transverse and rotary gallop in cursorial mammals

Biologically inspired adaptive walking of a quadruped robot

Exploiting body dynamics for controlling a running quadruped robot

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