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Eigenmodes of Nonlinear Dynamics: Definition, Existence, and Embodiment into Legged Robots with Elastic Elements

Lakatos, Dominic and Friedl, Werner and Albu-Schäffer, Alin (2017) Eigenmodes of Nonlinear Dynamics: Definition, Existence, and Embodiment into Legged Robots with Elastic Elements. IEEE Robotics and Automation Letters (2), pp. 1062-1069. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/LRA.2017.2658018 ISSN 2377-3766

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Official URL: http://ieeexplore.ieee.org/document/7833039/


Pogo-stick bouncing or the spring loaded inverted pendulum represents fundamental dynamics models for hopping and running in legged locomotion. However, these conceptual models are in general of lower order than the elastic multibody dynamics of versatile segmented legs. The question how to embody these simple models into real robot leg designs still has not been completely answered so far. The concept of eigenmodes for linear systems provides a tool to separate high-dimensional, coupled dynamics in one-dimensional (1-D) invariant ones. However, the dynamics of segmented legs is in general nonlinear such that even the existence of periodic motions, as appearing typically in locomotion tasks, cannot be generally guaranteed without changing intrinsic dynamics behavior substantially by control. This letter extends the concept of eigenmodes, which is well known for linear systems, to the nonlinear case. By proposing a method for selecting the design parameters of multibody systems such that desired eigenmodes are achieved, the problem of embodying fundamental locomotion modes into legged systems is resolved. Examples of practically realizable leg designs are provided, which proof the existence of invariant, 1-D oscillation modes in nonlinear, elastic robot dynamics. An experiment on a multilegged robotic system validates that energetic efficiency can be gained by the proposed approach.

Item URL in elib:https://elib.dlr.de/111916/
Document Type:Article
Title:Eigenmodes of Nonlinear Dynamics: Definition, Existence, and Embodiment into Legged Robots with Elastic Elements
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lakatos, Dominicdominic.lakatos (at) dlr.deUNSPECIFIED
Friedl, Wernerwerner.friedl (at) dlr.deUNSPECIFIED
Albu-Schäffer, Alinalin.albu-schaeffer (at) dlr.deUNSPECIFIED
Date:25 January 2017
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/LRA.2017.2658018
Page Range:pp. 1062-1069
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Nonlinear dynamical systems, Eigenmodes, Legged robots
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Laufroboter/Lokomotion
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Lakatos, Dominic
Deposited On:19 May 2017 14:47
Last Modified:14 Dec 2019 04:23

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