Embedding a Nonlinear Strict Oscillatory Mode into a Segmented Leg

Anna Sesselmann, Florian Loeffl, Cosimo Della Santina, Maximo A. Roa, Alin Albu-Schaffer

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Abstract

Robotic legs often lag behind the performance of their biological counterparts. The inherent passive dynamics of natural legs largely influences the locomotion and can be abstracted through the spring-loaded inverted pendulum (SLIP) model. This model is often approximated in physical robotic legs using a leg with minimal mass. Our work aims to embed the SLIP dynamics by using a nonlinear strict oscillatory mode into a segmented robotic leg with significant mass, to minimize the control required for achieving periodic motions. For the first time, we provide a realization of a nonlinear oscillatory mode in a robotic leg prototype. This is achieved by decoupling the polar task dynamics and fulfilling the resulting conditions with the physical leg design. Extensive experiments validate that the robotic leg effectively embodies the strict mode. The decoupled leg-length dynamic is exhibited in leg configurations corresponding to the stance and flight phases of the locomotion task, both for the passive system and when actuating the motors. We additionally show that the leg retains this behavior while performing jumping in place experiments.

Original languageEnglish
Title of host publicationProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
PublisherIEEE
Pages1370-1377
ISBN (Electronic)978-1-6654-1714-3
DOIs
Publication statusPublished - 2021
Event2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021 - Prague, Czech Republic
Duration: 27 Sep 20211 Oct 2021

Conference

Conference2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Country/TerritoryCzech Republic
CityPrague
Period27/09/211/10/21

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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