The effects of swing-leg retraction on running performance: analysis, simulation, and experiment

Karssen, J. G. Daniël; Haberland, Matt; Wisse, Martijn; Kim, Sangbae

doi:10.1017/s0263574714001167

Cited by 33 publications

(37 citation statements)

References 33 publications

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“…Expanding this approach, researchers have demonstrated an optimal retraction rate for perturbation rejection [65] and energy efficient locomotion [66]. Additionally, modeling and experimental results using large bioinspired quadrupedal robots [65,67] indicate that swing leg retraction can potentially mitigate the risk of slippage at heel-strike during rapid running. Therefore, we test the effect of varying leg retraction period on locomotion and hypothesize (H 1 ) that increasing the leg retraction period reduces slipping and improves locomotion performance.…”

Section: Hypothesis One (H 1 )mentioning

confidence: 99%

Effective locomotion at multiple stride frequencies using proprioceptive feedback on a legged microrobot

et al. 2019

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Limitations in actuation, sensing, and computation have forced small legged robots to rely on carefully tuned, mechanically mediated leg trajectories for effective locomotion. Recent advances in manufacturing, however, have enabled the development of small legged robots capable of operation at multiple stride frequencies using multi-degree-of-freedom leg trajectories. Proprioceptive sensing and control is key to extending the capabilities of these robots to a broad range of operating conditions. In this work, we use concomitant sensing for piezoelectric actuation with a computationally efficient framework for estimation and control of leg trajectories on a quadrupedal microrobot. We demonstrate accurate position estimation (<16 % root-mean-square error) and control (<16 % root-mean-square tracking error) during locomotion across a wide range of stride frequencies (10 Hz to 50 Hz). This capability enables the exploration of two blue bioinspired parametric leg trajectories designed to reduce leg slip and increase locomotion performance (e.g., speed, cost-of-transport, etc.). Using this approach, we demonstrate high performance locomotion at stride frequencies of (10 Hz to 30 Hz) where the robot's natural dynamics result in poor open-loop locomotion. Furthermore, we validate the biological hypotheses that inspired the our trajectories and identify regions of highly dynamic locomotion, low cost-oftransport (3.33), and minimal leg slippage (< 10 %).

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Section: Hypothesis One (H 1 )mentioning

confidence: 99%

Effective locomotion at multiple stride frequencies using proprioceptive feedback on a legged microrobot

et al. 2019

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“…Previous research found that sliding between the foot and ground has to be controlled to avoid falling and slipping [34]. However, sliding is caused by the transverse force applied to the foot when it is in contact with the ground.…”

Section: Discussionmentioning

confidence: 99%

Significance of the Compliance of the Joints on the Dynamic Slip Resistance of a Bioinspired Hoof

et al. 2019

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Robust mechanisms for slip resistance are an open challenge in legged locomotion. Animals such as goats show impressive ability to resist slippage on cliffs. It is not fully known what attributes in their body determine this ability. Studying the slip resistance dynamics of the goat may offer insight toward the biologically inspired design of robotic hooves. This article tests how the embodiment of the hoof contributes to solving the problem of slip resistance. We ran numerical simulations and experiments using a passive robotic goat hoof for different compliance levels of its three joints. We established that compliant yaw and pitch and stiff roll can increase the energy required to slide the hoof by ≈ 20% compared to the baseline (stiff hoof). Compliant roll and pitch allow the robotic hoof to adapt to the irregularities of the terrain. This produces an antilock braking system-like behavior of the robotic hoof for slip resistance. Therefore, the pastern and coffin joints have

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“…A biped walker [17] and passive quadrupeds [18,19] achieved gait transitions by only the body dynamics. Moreover, some results showed the functions of partial body dynamics for legged locomotion, including swing-leg retraction [20], compliant legs [21,22], and torsos [23]. Although the functions of partial body dynamics in animals were suggested in these studies, whole body dynamics is still entangled.…”

Section: Introductionmentioning

confidence: 99%

Simple Reflex Controller for Decentralized Motor Coordination Based on Resonant Oscillation

Masuda

Ishikawa

2018

Robotics

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This article describes an extremely simple controller as a minimal example of decentralized motor coordination and gait generation. The control strategy is based on the stretch reflex in animals and requires no mutual communication or detailed body models. Despite such simplicity, each controller can sync itself and generate various resonant oscillation by only physical interaction through whole body dynamics. To evaluate this controller, we conduct some simulations with a linear spring-mass-damper system and a nonlinear legged robot model with multiple controllers. The former shows an adaptability to change in vibration frequency and the body parameter. In the latter, first we show a limitation of the proposed method due to the nonlinearity, and an alternative method is proposed. Finally, the simple controllers generate versatile gaits just by choosing a control parameter of "speeding up or down," and the gait generation can be explained by the controllers-body integration based on resonant oscillation.

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The effects of swing-leg retraction on running performance: analysis, simulation, and experiment

Cited by 33 publications

References 33 publications

Effective locomotion at multiple stride frequencies using proprioceptive feedback on a legged microrobot

Effective locomotion at multiple stride frequencies using proprioceptive feedback on a legged microrobot

Significance of the Compliance of the Joints on the Dynamic Slip Resistance of a Bioinspired Hoof

Simple Reflex Controller for Decentralized Motor Coordination Based on Resonant Oscillation

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