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

Journal article (2023)

Authors

Davide Calzolari Technische Universität München, Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)
C. Della Santina Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering , Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)
Alessandro Massimo Giordano Technische Universität München, Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)
Annika Schmidt Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR), Technische Universität München
Alin Albu-Schaffer Technische Universität München, Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)
Research Group
Learning & Autonomous Control (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2023 Davide Calzolari, C. Della Santina, Alessandro M. Giordano, Annika Schmidt, Alin Albu-Schaffer
DOI: https://doi.org/10.1109/LRA.2023.3249631
Legged robots Natural machine motion Passive walking
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Published Date

2023

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Learning & Autonomous Control

Abstract

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.