Single-Leg Forward Hopping via Nonlinear Modes

Conference paper (2022)

Authors

Davide Calzolari Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR), Technische Universität München
C. Della Santina Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering , Technische Universität München, Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)
Alessandro Massimo Giordano Technische Universität München, Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)
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: © 2022 Davide Calzolari, C. Della Santina, Alessandro Massimo Giordano, Alin Albu-Schaffer
DOI: https://doi.org/10.23919/ACC53348.2022.9867538
Robustness Heuristic algorithms Modal analysis Trajectory Legged locomotion Mechanical systems Motion segmentation
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Published Date

2022

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Learning & Autonomous Control

Abstract

Implementing dynamic legged locomotion entails stabilizing oscillatory behaviors in complex mechanical systems. Whenever possible, locomotion algorithms should also exploit the improved capabilities of elastic elements added to the structure to improve efficiency and robustness. This work aims to shed some light on implementing generic dynamic locomotion by stabilizing nonlinear modes. The nonlinear modal analysis extends the linear modal theory to nonlinear systems and thus characterizes the oscillations that a robot can execute as autonomous evolutions. We execute forward hopping motions with a single segmented elastic leg as the first step towards generic modal locomotion. We propose a locomotion algorithm that exploits the modes of an extension of the SLIP model. We develop this strategy to generalize to other robotic systems, and we extensively validate it with experiments on an elastically actuated segmented leg.