Embodying Quasi-Passive Modal Trotting and Pronking in a Sagittal Elastic Quadruped

Davide Calzolari; Cosimo Della Santina; Alessandro M. Giordano; Annika Schmidt; Alin Albu-Schaffer

doi:10.1109/LRA.2023.3249631

Embodying Quasi-Passive Modal Trotting and Pronking in a Sagittal Elastic Quadruped

Davide Calzolari, Cosimo Della Santina, Alessandro M. Giordano^*, Annika Schmidt, Alin Albu-Schaffer

^*Corresponding author for this work

Learning & Autonomous Control

Research output: Contribution to journal › Article › Scientific › peer-review

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Abstract

Animals rely on the elasticity of their tendons and muscles to execute robust and efficient locomotion patterns for a vast and continuous range of velocities. Replicating such capabilities in artificial systems is a long-lasting challenge in robotics. By taking advantage of a pitch dynamics decoupling spring potential, this work aims to provide design rules and a control strategy to generate dynamic, efficient locomotion patterns in quadrupeds moving in a sagittal plane. We rely on nonlinear modal theory, which provides the tools to characterize continuous families of efficient oscillations in nonlinear mechanical systems. We provide simulations of an elastic quadruped showing that the proposed solution can robustly excite efficient locomotion patterns under non-ideal conditions.

Original language	English
Pages (from-to)	2285-2292
Journal	IEEE Robotics and Automation Letters
Volume	8
Issue number	4
DOIs	https://doi.org/10.1109/LRA.2023.3249631
Publication status	Published - 2023

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.

Keywords

Legged robots
natural machine motion
passive walking

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Embodying_Quasi-Passive_Modal_Trotting_and_Pronking_in_a_Sagittal_Elastic_QuadrupedFinal published version, 2.12 MB

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title = "Embodying Quasi-Passive Modal Trotting and Pronking in a Sagittal Elastic Quadruped",

abstract = "Animals rely on the elasticity of their tendons and muscles to execute robust and efficient locomotion patterns for a vast and continuous range of velocities. Replicating such capabilities in artificial systems is a long-lasting challenge in robotics. By taking advantage of a pitch dynamics decoupling spring potential, this work aims to provide design rules and a control strategy to generate dynamic, efficient locomotion patterns in quadrupeds moving in a sagittal plane. We rely on nonlinear modal theory, which provides the tools to characterize continuous families of efficient oscillations in nonlinear mechanical systems. We provide simulations of an elastic quadruped showing that the proposed solution can robustly excite efficient locomotion patterns under non-ideal conditions.",

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doi = "10.1109/LRA.2023.3249631",

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AU - Schmidt, Annika

AU - Albu-Schaffer, Alin

N1 - 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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AB - Animals rely on the elasticity of their tendons and muscles to execute robust and efficient locomotion patterns for a vast and continuous range of velocities. Replicating such capabilities in artificial systems is a long-lasting challenge in robotics. By taking advantage of a pitch dynamics decoupling spring potential, this work aims to provide design rules and a control strategy to generate dynamic, efficient locomotion patterns in quadrupeds moving in a sagittal plane. We rely on nonlinear modal theory, which provides the tools to characterize continuous families of efficient oscillations in nonlinear mechanical systems. We provide simulations of an elastic quadruped showing that the proposed solution can robustly excite efficient locomotion patterns under non-ideal conditions.

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ER -

Embodying Quasi-Passive Modal Trotting and Pronking in a Sagittal Elastic Quadruped

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Keywords

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