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Natural gait discovery for compliantly actuated legged robots

Sesselmann, Anna (2019) Natural gait discovery for compliantly actuated legged robots. Master's. DLR-Interner Bericht. DLR-IB-RM-OP-2019-30, 50 S.

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Nature evolved legs to travel in difficult terrain. Biological legged locomotion displays different gaits to minimize the energy needed to move with certain velocities. For example, humans walk with low velocity but switch to running when moving faster. Robotic legged locomotion proves to be a challenging topic. Most state-of-the-art motion planning approaches heavily control legged robotic systems in order to perform aspired movements. Changing the intrinsic dynamics of the system through control is necessary since the dynamics do not inherently exhibit the desired motions. However, recent work suggests that embedding desired dynamics into segmented robotic legs reduces the necessity of extensive control. This Master's Thesis combines theoretical templates for legged locomotion with physically realizable robotic legs. It first presents energy-conservative spring-loaded inverted pendulum (SLIP) models, which explain the existence of different gaits in legged locomotion. These templates are modified to capture the effects of physical damping and ground contact dynamics. A minimal control action compensates the resulting energy losses. Hereby, several natural gaits could be displayed with a non-conservative SLIP model. Based on this newly developed model, a segmented leg featuring a pantograph mechanism is designed. The inherent dynamics of this robotic leg are matched with the SLIP dynamics of the non-conservative template model. Based on optimized design parameters, the influence of deviating parameters on the natural dynamics is analyzed. These imprecisions occur when physically realizing the robotic leg. Natural gaits can be transferred from energy-conservative SLIP models to non-conservative models. SLIP-like dynamics are embedded into segmented legs, which can reduce the control necessary to exhibit periodic motions. Gaits supported by the intrinsic dynamics result in reduced energy consumption.

Item URL in elib:https://elib.dlr.de/126189/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Natural gait discovery for compliantly actuated legged robots
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Sesselmann, Annaanna.sesselmann (at) dlr.deUNSPECIFIED
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:50
Keywords:natural gaits, SLIP dynamics, compliant robots
Institution:Technical University of Munich
Department:Department of Informatics
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 Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Sesselmann, Anna
Deposited On:11 Feb 2019 09:51
Last Modified:31 Jul 2019 20:24

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