Boffa, Lorenzo und Sesselmann, Anna und Roa Garzon, Máximo Alejandro (2021) Quadrupedal template model for parametric stability analysis of trotting gaits. In: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021. IEEE. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021-09-27 - 2021-10-01, Prague, Czech Republic (Online). doi: 10.1109/IROS51168.2021.9635974. ISBN 978-166541714-3. ISSN 2153-0858.
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Offizielle URL: https://ieeexplore.ieee.org/document/9635974
Kurzfassung
Simple template models have proven useful for understanding the underlying dynamics of legged locomotion. The most common one, the SLIP model, considers the legs as linear springs with constant stiffness, and it explains well the radial dynamics of the legs. However, in order to study the influence of the leg swing dynamics and leg segmentation on gait stability, more complex models are required. This paper introduces a novel template model for quadrupedal gait, which considers these additional aspects. The dynamic behavior of the model is analyzed via numerical simulation, using a continuation approach. By conducting a parametric analysis on the trotting gait and analyzing its stability, we identify the influence of the main model parameters, leading to marginally unstable limit cycles. These numerical results are applicable to the design of more efficient elastic quadrupedal robots.
elib-URL des Eintrags: | https://elib.dlr.de/146767/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | Quadrupedal template model for parametric stability analysis of trotting gaits | ||||||||||||||||
Autoren: |
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Datum: | 29 Juli 2021 | ||||||||||||||||
Erschienen in: | 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.1109/IROS51168.2021.9635974 | ||||||||||||||||
Verlag: | IEEE | ||||||||||||||||
ISSN: | 2153-0858 | ||||||||||||||||
ISBN: | 978-166541714-3 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | passive dynamics, locomotion, compliant quadruped | ||||||||||||||||
Veranstaltungstitel: | 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||
Veranstaltungsort: | Prague, Czech Republic (Online) | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 27 September 2021 | ||||||||||||||||
Veranstaltungsende: | 1 Oktober 2021 | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Laufroboter/Lokomotion [RO] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Autonomie und Fernprogrammierung | ||||||||||||||||
Hinterlegt von: | Sesselmann, Anna | ||||||||||||||||
Hinterlegt am: | 06 Dez 2021 10:52 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:45 |
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