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Embodying Quasi-Passive Modal Trotting and Pronking in a Sagittal Elastic Quadruped

Calzolari, Davide and Della Santina, Cosimo and Giordano, Alessandro Massimo and Schmidt, Annika and Albu-Schäffer, Alin Olimpiu (2023) Embodying Quasi-Passive Modal Trotting and Pronking in a Sagittal Elastic Quadruped. IEEE Robotics and Automation Letters, 8 (4), pp. 2285-2292. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3249631. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/document/10054156


Animals rely on the elasticity of their tendons and muscles to execute robust and efficient locomotion patterns for a vast and continuous range of velocities. Replicating such capabilities in artificial systems is a long-lasting challenge in robotics. By taking advantage of a pitch dynamics decoupling spring potential, this work aims to provide design rules and a control strategy to generate dynamic, efficient locomotion patterns in quadrupeds moving in a sagittal plane. We rely on nonlinear modal theory, which provides the tools to characterize continuous families of efficient oscillations in nonlinear mechanical systems. We provide simulations of an elastic quadruped showing that the proposed solution can robustly excite efficient locomotion patterns under non-ideal conditions.

Item URL in elib:https://elib.dlr.de/197472/
Document Type:Article
Title:Embodying Quasi-Passive Modal Trotting and Pronking in a Sagittal Elastic Quadruped
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Calzolari, DavideUNSPECIFIEDhttps://orcid.org/0000-0003-0165-7621UNSPECIFIED
Della Santina, CosimoUNSPECIFIEDhttps://orcid.org/0000-0003-1067-1134UNSPECIFIED
Giordano, Alessandro MassimoUNSPECIFIEDhttps://orcid.org/0000-0003-2291-7525UNSPECIFIED
Schmidt, AnnikaUNSPECIFIEDhttps://orcid.org/0000-0002-4718-4201142820329
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142820330
Date:27 February 2023
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 2285-2292
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Elastic Quadruped
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) > Analysis and Control of Advanced Robotic Systems
Deposited By: Strobl, Dr. Klaus H.
Deposited On:22 Sep 2023 11:55
Last Modified:22 Sep 2023 11:55

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