Embodying Quasi-Passive Modal Trotting and Pronking in a Sagittal Elastic Quadruped
Davide Calzolari (Deutsches Zentrum für Luft- und Raumfahrt (DLR), Technische Universität München)
Cosimo Della Santina (TU Delft - Learning & Autonomous Control, Deutsches Zentrum für Luft- und Raumfahrt (DLR))
Alessandro M. Giordano (Deutsches Zentrum für Luft- und Raumfahrt (DLR), Technische Universität München)
Annika Schmidt (Technische Universität München, Deutsches Zentrum für Luft- und Raumfahrt (DLR))
Alin Albu-Schaffer (Deutsches Zentrum für Luft- und Raumfahrt (DLR), Technische Universität München)
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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.