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Dynamic Locomotion Gaits of a Compliantly Actuated Quadruped With SLIP-Like Articulated Legs Embodied in the Mechanical Design

Lakatos, Dominic and Ploeger, Kai Fabian and Loeffl, Florian Christoph and Seidel, Daniel and Schmidt, Florian and Gumpert, Thomas and John, Freia and Bertram, Torsten and Albu-Schäffer, Alin (2018) Dynamic Locomotion Gaits of a Compliantly Actuated Quadruped With SLIP-Like Articulated Legs Embodied in the Mechanical Design. IEEE Robotics and Automation Letters, 3 (4), pp. 3908-3915. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/LRA.2018.2857511 ISSN 2377-3766

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Official URL: https://ieeexplore.ieee.org/document/8413123

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.

Item URL in elib:https://elib.dlr.de/124110/
Document Type:Article
Title:Dynamic Locomotion Gaits of a Compliantly Actuated Quadruped With SLIP-Like Articulated Legs Embodied in the Mechanical Design
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lakatos, Dominicdominic.lakatos (at) dlr.deUNSPECIFIED
Ploeger, Kai Fabiankai.ploeger (at) dlr.deUNSPECIFIED
Loeffl, Florian ChristophFlorian.Loeffl (at) dlr.deUNSPECIFIED
Seidel, Danieldaniel.seidel (at) dlr.deUNSPECIFIED
Schmidt, FlorianFlorian.Schmidt (at) dlr.deUNSPECIFIED
Gumpert, ThomasThomas.Gumpert (at) dlr.deUNSPECIFIED
John, Freiafreia.john (at) tu-dortmund.de‎UNSPECIFIED
Bertram, Torstentorsten.bertram (at) tu-dortmund.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:19 July 2018
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Volume:3
DOI :10.1109/LRA.2018.2857511
Page Range:pp. 3908-3915
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Status:Published
Keywords:Compliance and impedance control, legged robots, dynamics embodiment, spring loaded inverted pendulum
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:03 Dec 2018 14:12
Last Modified:31 Jul 2019 20:21

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