Single-Leg Forward Hopping via Nonlinear Modes

Davide Calzolari; C. Della Santina; Alessandro Massimo Giordano; Alin Albu-Schaffer

doi:10.23919/ACC53348.2022.9867538

Single-Leg Forward Hopping via Nonlinear Modes

Davide Calzolari, C. Della Santina, Alessandro Massimo Giordano, Alin Albu-Schaffer

Learning & Autonomous Control

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

2 Citations (Scopus)

8 Downloads (Pure)

Abstract

Implementing dynamic legged locomotion entails stabilizing oscillatory behaviors in complex mechanical systems. Whenever possible, locomotion algorithms should also exploit the improved capabilities of elastic elements added to the structure to improve efficiency and robustness. This work aims to shed some light on implementing generic dynamic locomotion by stabilizing nonlinear modes. The nonlinear modal analysis extends the linear modal theory to nonlinear systems and thus characterizes the oscillations that a robot can execute as autonomous evolutions. We execute forward hopping motions with a single segmented elastic leg as the first step towards generic modal locomotion. We propose a locomotion algorithm that exploits the modes of an extension of the SLIP model. We develop this strategy to generalize to other robotic systems, and we extensively validate it with experiments on an elastically actuated segmented leg.

Original language	English
Title of host publication	Proceedings of the American Control Conference (ACC 2022)
Publisher	IEEE
Pages	506-513
ISBN (Print)	978-1-6654-5196-3
DOIs	https://doi.org/10.23919/ACC53348.2022.9867538
Publication status	Published - 2022
Event	2022 American Control Conference, ACC 2022 - Atlanta, United States Duration: 8 Jun 2022 → 10 Jun 2022

Conference

Conference	2022 American Control Conference, ACC 2022
Country/Territory	United States
City	Atlanta
Period	8/06/22 → 10/06/22

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 locomotion
Motion segmentation
Modal analysis
Heuristic algorithms
Robustness
Trajectory
Mechanical systems

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10.23919/ACC53348.2022.9867538

Single-Leg_Forward_Hopping_via_Nonlinear_ModesFinal published version, 1.96 MB

Cite this

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title = "Single-Leg Forward Hopping via Nonlinear Modes",

abstract = "Implementing dynamic legged locomotion entails stabilizing oscillatory behaviors in complex mechanical systems. Whenever possible, locomotion algorithms should also exploit the improved capabilities of elastic elements added to the structure to improve efficiency and robustness. This work aims to shed some light on implementing generic dynamic locomotion by stabilizing nonlinear modes. The nonlinear modal analysis extends the linear modal theory to nonlinear systems and thus characterizes the oscillations that a robot can execute as autonomous evolutions. We execute forward hopping motions with a single segmented elastic leg as the first step towards generic modal locomotion. We propose a locomotion algorithm that exploits the modes of an extension of the SLIP model. We develop this strategy to generalize to other robotic systems, and we extensively validate it with experiments on an elastically actuated segmented leg.",

keywords = "Legged locomotion, Motion segmentation, Modal analysis, Heuristic algorithms, Robustness, Trajectory, Mechanical systems",

author = "Davide Calzolari and {Della Santina}, C. and Giordano, {Alessandro Massimo} and Alin Albu-Schaffer",

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.; 2022 American Control Conference, ACC 2022 ; Conference date: 08-06-2022 Through 10-06-2022",

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AU - Della Santina, C.

AU - Giordano, Alessandro Massimo

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.

PY - 2022

Y1 - 2022

N2 - Implementing dynamic legged locomotion entails stabilizing oscillatory behaviors in complex mechanical systems. Whenever possible, locomotion algorithms should also exploit the improved capabilities of elastic elements added to the structure to improve efficiency and robustness. This work aims to shed some light on implementing generic dynamic locomotion by stabilizing nonlinear modes. The nonlinear modal analysis extends the linear modal theory to nonlinear systems and thus characterizes the oscillations that a robot can execute as autonomous evolutions. We execute forward hopping motions with a single segmented elastic leg as the first step towards generic modal locomotion. We propose a locomotion algorithm that exploits the modes of an extension of the SLIP model. We develop this strategy to generalize to other robotic systems, and we extensively validate it with experiments on an elastically actuated segmented leg.

AB - Implementing dynamic legged locomotion entails stabilizing oscillatory behaviors in complex mechanical systems. Whenever possible, locomotion algorithms should also exploit the improved capabilities of elastic elements added to the structure to improve efficiency and robustness. This work aims to shed some light on implementing generic dynamic locomotion by stabilizing nonlinear modes. The nonlinear modal analysis extends the linear modal theory to nonlinear systems and thus characterizes the oscillations that a robot can execute as autonomous evolutions. We execute forward hopping motions with a single segmented elastic leg as the first step towards generic modal locomotion. We propose a locomotion algorithm that exploits the modes of an extension of the SLIP model. We develop this strategy to generalize to other robotic systems, and we extensively validate it with experiments on an elastically actuated segmented leg.

KW - Legged locomotion

KW - Motion segmentation

KW - Modal analysis

KW - Heuristic algorithms

KW - Robustness

KW - Trajectory

KW - Mechanical systems

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DO - 10.23919/ACC53348.2022.9867538

M3 - Conference contribution

SN - 978-1-6654-5196-3

SP - 506

EP - 513

BT - Proceedings of the American Control Conference (ACC 2022)

PB - IEEE

T2 - 2022 American Control Conference, ACC 2022

Y2 - 8 June 2022 through 10 June 2022

ER -

Single-Leg Forward Hopping via Nonlinear Modes

Abstract

Conference

Bibliographical note

Keywords

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