elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Embedding a Nonlinear Strict Oscillatory Mode into a Segmented Leg

Sesselmann, Anna and Loeffl, Florian Christoph and Della Santina, Cosimo and Roa Garzon, Máximo Alejandro and Albu-Schäffer, Alin Olimpiu (2021) Embedding a Nonlinear Strict Oscillatory Mode into a Segmented Leg. In: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021. IEEE. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, 27 Sep - 01 Oct 2021, Prague, Czech Republic (Online). doi: 10.1109/IROS51168.2021.9636605. ISBN 978-166541714-3. ISSN 2153-0858.

[img] PDF - Only accessible within DLR
1MB

Official URL: https://ieeexplore.ieee.org/document/9636605

Abstract

Robotic legs often lag behind the performance of their biological counterparts. The inherent passive dynamics of natural legs largely influences the locomotion and can be abstracted through the spring-loaded inverted pendulum (SLIP) model. This model is often approximated in physical robotic legs using a leg with minimal mass. Our work aims to embed the SLIP dynamics by using a nonlinear strict oscillatory mode into a segmented robotic leg with significant mass, to minimize the control required for achieving periodic motions. For the first time, we provide a realization of a nonlinear oscillatory mode in a robotic leg prototype. This is achieved by decoupling the polar task dynamics and fulfilling the resulting conditions with the physical leg design. Extensive experiments validate that the robotic leg effectively embodies the strict mode. The decoupled leg-length dynamic is exhibited in leg configurations corresponding to the stance and flight phases of the locomotion task, both for the passive system and when actuating the motors. We additionally show that the leg retains this behavior while performing jumping in place experiments.

Item URL in elib:https://elib.dlr.de/146173/
Document Type:Conference or Workshop Item (Speech)
Title:Embedding a Nonlinear Strict Oscillatory Mode into a Segmented Leg
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Sesselmann, AnnaAnna.Sesselmann (at) dlr.dehttps://orcid.org/0000-0001-9996-0455
Loeffl, Florian ChristophFlorian.Loeffl (at) dlr.dehttps://orcid.org/0000-0002-6914-5414
Della Santina, CosimoCosimo.DellaSantina (at) dlr.dehttps://orcid.org/0000-0003-1067-1134
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.dehttps://orcid.org/0000-0001-5343-9074
Date:24 August 2021
Journal or Publication Title:2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.1109/IROS51168.2021.9636605
Publisher:IEEE
ISSN:2153-0858
ISBN:978-166541714-3
Status:Published
Keywords:mechanism design, passive dynamics, nonlinear modes, locomotion
Event Title:2021 IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Prague, Czech Republic (Online)
Event Type:international Conference
Event Dates:27 Sep - 01 Oct 2021
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Sesselmann, Anna
Deposited On:06 Dec 2021 10:53
Last Modified:25 Mar 2022 07:53

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.