Name
Title | ||
|---|---|---|
Dynamic Locomotion Gaits Of A Compliantly Actuated Quadruped With Slip-Like Articulated Legs Embodied In The Mechanical Design |
Abstract | ||
|---|---|---|
The spring loaded inverted pendulum (SLIP) model has been extensively shown to be fundamental for legged locomotion. However, the way this low-order template model dynamics is anchored in high-dimensional articulated multibody systems describing compliantly actuated robots (and animals) is not obvious and has not been shown so far. In this letter, an articulated leg mechanism and a corresponding quadrupedal robot design are introduced, for which the natural oscillation dynamics is structurally equivalent to the SLIP. On the basis of this property, computationally simple and robust control methods are proposed, which implement the gaits of pronking, trotting, and dynamic walking in the real robotic system. Experiments with a compliantly actuated quadruped featuring only low-performance electrical drives validate the effectiveness of the proposed approach. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/LRA.2018.2857511 | IEEE ROBOTICS AND AUTOMATION LETTERS |
Keywords | Field | DocType |
Compliance and impedance control, legged robots, dynamics embodiment, spring loaded inverted pendulum | Inverted pendulum,Gait,Control theory,Slip (materials science),Quadrupedalism,Control engineering,Leg mechanism,Engineering,Robot,Robust control,Servomotor | Journal |
Volume | Issue | ISSN |
3 | 4 | 2377-3766 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
9 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dominic Lakatos | 1 | 47 | 8.03 |
| Kai Ploeger | 2 | 0 | 0.68 |
| Florian Christoph Loeffl | 3 | 2 | 3.50 |
| Daniel Seidel | 4 | 0 | 0.68 |
| Florian Schmidt | 5 | 268 | 34.52 |
| Thomas Gumpert | 6 | 0 | 0.34 |
| Freia John | 7 | 0 | 0.34 |
| T. Bertram | 8 | 9 | 2.23 |
| Alin Albu-Schaffer | 9 | 2831 | 262.17 |