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Influence of Variable Leg Elasticity on the Stability of Quadrupedal Gaits

Delfatti, Federico and Sesselmann, Anna and Roa Garzon, Máximo Alejandro (2022) Influence of Variable Leg Elasticity on the Stability of Quadrupedal Gaits. In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022. IEEE. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), 2022-10-23 - 2022-10-27, Kyoto, Japan. doi: 10.1109/IROS47612.2022.9982204. ISBN 978-166547927-1. ISSN 2153-0858.

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Official URL: https://ieeexplore.ieee.org/document/9982204


Several template models have been developed to facilitate the analysis of limit-cycles for quadrupedal locomotion. The parameters in the model are usually fixed; however, biology shows that animals change their leg stiffness according to the locomotion velocity, and this adaptability invariably affects the stability of the gait. This paper provides an analysis of the influence of this variable leg stiffness on the stability of different quadrupedal gaits. The analysis exploits a simplified quadrupedal model with compliant legs and shoulder joints represented as torsional springs. This model can reproduce the most common quadrupedal gaits observed in nature. The stability of such emerging gaits is then checked. Afterward, an optimization process is used to search for the system parameters that guarantee maximum gait stability. Our study shows that using the highest feasible leg swing frequency and adopting a leg stiffness that increases with the speed of locomotion noticeably improves the gait stability over a wide range of horizontal velocities while reducing the oscillations of the trunk. This insight can be applied in the design of novel elastic quadrupedal robots, where variable stiffness actuators could be employed to improve the overall locomotion behavior.

Item URL in elib:https://elib.dlr.de/192705/
Document Type:Conference or Workshop Item (Speech)
Title:Influence of Variable Leg Elasticity on the Stability of Quadrupedal Gaits
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Delfatti, FedericoPolitecnico di MilanoUNSPECIFIEDUNSPECIFIED
Roa Garzon, Máximo AlejandroUNSPECIFIEDhttps://orcid.org/0000-0003-1708-4223UNSPECIFIED
Date:October 2022
Journal or Publication Title:2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:quadrupedal robot, template model, robot locomotion
Event Title:IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS)
Event Location:Kyoto, Japan
Event Type:international Conference
Event Start Date:23 October 2022
Event End Date:27 October 2022
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 - Autonomy & Dexterity [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:20 Dec 2022 11:35
Last Modified:24 Apr 2024 20:53

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