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

Emerging Gaits for a Quadrupedal Template Model with Segmented Legs

Boffa, Lorenzo and Sesselmann, Anna and Roa Garzon, Máximo Alejandro (2023) Emerging Gaits for a Quadrupedal Template Model with Segmented Legs. Journal of Mechanisms and Robotics, 15 (3), 031011. American Society of Mechanical Engineers (ASME). doi: 10.1115/1.4062388. ISSN 1942-4302.

[img] PDF - Only accessible within DLR - Postprint version (accepted manuscript)

Official URL: https://asmedigitalcollection.asme.org/mechanismsrobotics/article/15/3/031011/1163036/Emerging-Gaits-for-a-Quadrupedal-Template-Model


Energy-efficient gaits in walking robots can be obtained by designing elastic systems that exhibit naturally emerging locomotion patterns. Biological legged locomotion serves as inspiration, as animals use different gaits to move at certain speeds while minimizing energy consumption. To understand the underlying dynamics of biological locomotion, simplified models have been proposed. The most common one, the SLIP (spring loaded inverted pendulum) model, can explain the effect of the radial elasticity of linear legs and helps to explain locomotion patterns, especially for running behaviors, in different legged systems. However, the SLIP model is inappropriate for the study of stability of limit cycles in systems with articulated legs, which are most commonly used in real robots. This paper introduces a novel quadrupedal template model featuring articulated elastic legs, non-constant leg stiffness, and dynamic leg swing. Numerical simulation with a continuation approach is used to discover the gaits emerging from the natural dynamics of the model, without imposing any contact sequence a priori. The stability of those gaits is also characterized, in order to facilitate the exploitation of the natural model dynamics for generating locomotion patterns for quadrupedal robots.

Item URL in elib:https://elib.dlr.de/196268/
Document Type:Article
Title:Emerging Gaits for a Quadrupedal Template Model with Segmented Legs
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Boffa, LorenzoPolitecnico di MilanoUNSPECIFIEDUNSPECIFIED
Sesselmann, AnnaUNSPECIFIEDhttps://orcid.org/0000-0001-9996-0455UNSPECIFIED
Roa Garzon, Máximo AlejandroUNSPECIFIEDhttps://orcid.org/0000-0003-1708-4223UNSPECIFIED
Date:2 May 2023
Journal or Publication Title:Journal of Mechanisms and Robotics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:031011
Publisher:American Society of Mechanical Engineers (ASME)
Keywords:legged robots, quadrupedal robots, passive dynamics
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 - On-Orbit Servicing [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:28 Jul 2023 09:55
Last Modified:28 Jul 2023 09:55

Repository Staff Only: item control page

Help & Contact
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.