Stable quadrupedal running based spring-loaded two-segment legged on a model

In this paper, we employed a conservative spring-loaded two-segment legged model to test the effect of passive dynamics on running stability. By numerical return map studies, we investigated system stability and discovered that passive generation of a large variety of cyclic jumping motion on the legged model is possible. The results of this study indicated that the dynamics of suitable mechanical system could significantly alone improve the stability of legged running and suggest that swing phase dynamics may play an important role in adjustment of forward velocity and apex height. Moreover, we used the spring-loaded two segment legged model as a template to construct a simplified model of our Tekken I quadruped robot on numerical simulation. Using the constructed simulator to investigate the quadruped robot system stability, we proposed a simple control method for quadrupedal bounding and verified its effectiveness. In addition, our studies relating to passive dynamics of quadruped robot might help to understand the reliable stability and remarkable maneuverability on our experimental robot.

[1]  Marc H. Raibert,et al.  Legged Robots That Balance , 1986, IEEE Expert.

[2]  R. Blickhan.  The spring-mass model for running and hopping. , 1989, Journal of biomechanics.

[3]  T. McMahon,et al.  The mechanics of running: how does stiffness couple with speed? , 1990, Journal of biomechanics.

[4]  Matthew D. Berkemeier.  Modeling the Dynamics of Quadrupedal Running , 1998, Int. J. Robotics Res..

[5]  R J Full,et al.  Templates and anchors: neuromechanical hypotheses of legged locomotion on land. , 1999, The Journal of experimental biology.

[6]  Hiroshi Kimura,et al.  Realization of Dynamic Walking and Running of the Quadruped Using Neural Oscillator , 1999, Auton. Robots.

[7]  Jonathan E. Clark,et al.  Stride Period Adaptation for a Biomimetic Running Hexapod , 2001, ISRR.

[8]  Dimitrios Poulakis.  Affine curves with infinitely many integral points , 2002 .

[9]  Reinhard Blickhan,et al.  A movement criterion for running. , 2002, Journal of biomechanics.

[10]  Martin Buehler.  Dynamic locomotion with one, four and six-legged robots (特集「ロコモーション」) , 2002 .

[11]  Martin Buehler,et al.  On the stable passive dynamics of quadrupedal running , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[12]  Daniel E. Koditschek,et al.  Template based control of hexapedal running , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[13]  Yasuhiro Fukuoka,et al.  Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain Based on Biological Concepts , 2003, Int. J. Robotics Res..

[14]  Yasuhiro Fukuoka,et al.  Adaptive running of a quadruped robot on irregular terrain based on biological concepts , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[15]  R. Blickhan,et al.  Similarity in multilegged locomotion: Bouncing like a monopode , 1993, Journal of Comparative Physiology A.