Running birds reveal secrets for legged robot design

Rubenson, Jonas; Sawicki, Gregory S.

doi:10.1126/scirobotics.abo2147

Cited by 8 publications

(5 citation statements)

References 11 publications

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“…The hypothesis was then verified by a model with a spine joint and a torsional spring. In addition, the running of bipedal creatures, such as birds [6,7] or humans [8,9], has also been studied. On this basis, many researchers have studied the running of bio-inspired quadruped robots.…”

Section: Introductionmentioning

confidence: 99%

Method of Changing Running Direction of Cheetah-Inspired Quadruped Robot

Meng

Jun

Zhang

et al. 2022

Sensors

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The rapid change of motion direction during running is beneficial to improving the movement flexibility of the quadruped robot, which is of great relevance to its research. How to make the robot change its motion direction during running and achieve good dynamic stability is a problem to be solved. In this paper, a method to change the running direction of the cheetah-inspired quadruped robot is proposed. Based on the analysis of the running of the cheetah, a dynamic model of the quadruped robot is established, and a two-level stability index system, including a minimum index system and a range index system, is proposed. On this basis, the objective function based on the stability index system and optimization variables, including leg landing points, trunk movement trajectory, and posture change rule, are determined. Through these constraints, the direction changes with good dynamic stability of the cheetah-inspired quadruped robot during running is realized by controlling the leg parameters. The robot will not roll over during high-speed movement. Finally, the correctness of the proposed method is proven by simulation. This paper provides a theoretical basis for the quadruped robot’s rapid change of direction in running.

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Section: Introductionmentioning

confidence: 99%

Method of Changing Running Direction of Cheetah-Inspired Quadruped Robot

Meng

Jun

Zhang

et al. 2022

Sensors

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“…

Recent advances in artificial muscles (AMs) with variable stiffness [1][2][3] have greatly contributed to the extensive development of bionic and soft robotics. [4,5] The combination of variable stiffness and flexibility enables these robots to adapt to complex and changing environments and to perform multiple tasks in comparison with traditional rigid-bodied [6,7] or fully soft robots. [8][9][10][11] For instance, a soft gripper with stiffness variation is able to provide a sufficient grip while not damaging fragile objects.

…”

mentioning

confidence: 99%

An Electric Self‐Sensing and Variable‐Stiffness Artificial Muscle

Liu

Busfield

Zhang

2023

Advanced Intelligent Systems

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Soft robots have better flexibility than their rigid counterparts thus offering greater adaptability to changing environments. These robots made from flexible materials are generally with low stiffness and have limited capability to perform tasks that require the application of large forces. Soft artificial muscles (AMs) with variable stiffness are promising solutions for soft robots to handle larger payloads. However, the existing actuators need to overcome their small range of stiffness variation and slow response. Further, it is difficult to integrate self‐sensing into existing actuators. Herein, a novel electric AM with variable stiffness and self‐sensing referencing smooth muscle contraction in nature is proposed. The AM consists of two pieces of soft anode mesh, a flexible cathode and a polyvinyl chloride (PVC) gel dielectric layer, where the cathode is also a resistive sensor. The stiffness variation is induced by the friction change caused by electrostatic adsorption. Compared with the existing PVC gel actuation technology, the new design integrated the dielectric and the cathode layers and combined the sensing function. Also, the rigid anode and cathode are replaced by the soft ones, respectively, which makes the AM suitable for soft robotics or wearable devices.

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“…Illustratively, cheetahs reach over 70 mph, mountain goats maneuver steep, rocky landscapes, and kangaroos can leap distances exceeding 7 m. The development of robotic quadrupeds seeks to replicate, or exceed, the capabilities for applications including exploration, inspection, and search and rescue (2, 3).The capabilities of animals stem from their unique morphological characteristics and passive biomechanical and musculoskeletal properties (4). Compliance mediated by elastic tendons and muscles is widely recognized as a central driver of this observed physical intelligence (5,6). Yet, the mainstream approach to robotic locomotion is not to replicate the physical functionality of animal systems, but to approximate the biomechanics and morphology, relying on standard rigid robotic components in conjunction with series elastic actuators (7, 8).…”

mentioning

confidence: 99%

“…The capabilities of animals stem from their unique morphological characteristics and passive biomechanical and musculoskeletal properties (4). Compliance mediated by elastic tendons and muscles is widely recognized as a central driver of this observed physical intelligence (5,6).…”

mentioning

confidence: 99%

PAWS: A Synergy-Based Robotic Quadruped Leveraging Passivity for Robustness and Behavioural Diversity

Stella,

Achkar,

Santina

et al. 2023

Preprint

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Quadrupedal animals show remarkable capabilities in traversing diverse terrains and display a range of behaviors and gait patterns. Achieving similar performance is a key goal for robotics researchers. We propose a bio-inspired approach to the design of quadrupeds that seeks to exploit the body and the passive properties of the robot. Using this novel approach we develop \textit{PAWS}, a Passive Automata With Synergies. By leveraging the principles of motor synergies, the design incorporates variable stiffness, biological anatomical insights, and self-organization to simplify control while maximizing its capabilities. The resulting synergy-based quadruped requires only four actuators and exhibits emergent, animal-like dynamical responses, including robustness to environmental perturbations and a wide range of behaviors. The finding contributes to the development of machine intelligence, and provides robots with more efficient and natural-looking robotic locomotion by combining synergistic actuation, compliant body properties, and embodied compensatory strategies.

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Running birds reveal secrets for legged robot design

Abstract: Recapitulating avian locomotion opens the door for simple and economical control of legged robots without sensory feedback systems.

Cited by 8 publications

References 11 publications

Method of Changing Running Direction of Cheetah-Inspired Quadruped Robot

Method of Changing Running Direction of Cheetah-Inspired Quadruped Robot

An Electric Self‐Sensing and Variable‐Stiffness Artificial Muscle

PAWS: A Synergy-Based Robotic Quadruped Leveraging Passivity for Robustness and Behavioural Diversity

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