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Quadrupedal template model for parametric stability analysis of trotting gaits

Boffa, Lorenzo and Sesselmann, Anna and 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, 27 Sep - 01 Oct 2021, Prague, Czech Republic (Online). doi: 10.1109/IROS51168.2021.9635974. ISBN 978-166541714-3. ISSN 2153-0858.

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Official URL: https://ieeexplore.ieee.org/document/9635974

Abstract

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.

Item URL in elib:https://elib.dlr.de/146767/
Document Type:Conference or Workshop Item (Speech)
Title:Quadrupedal template model for parametric stability analysis of trotting gaits
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Boffa, LorenzoPolitecnico di MilanoUNSPECIFIED
Sesselmann, AnnaAnna.Sesselmann (at) dlr.dehttps://orcid.org/0000-0001-9996-0455
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Date:29 July 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/IROS51168.2021.9635974
Publisher:IEEE
ISSN:2153-0858
ISBN:978-166541714-3
Status:Published
Keywords:passive dynamics, locomotion, compliant quadruped
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 10:52
Last Modified:25 Mar 2022 10:07

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