Vol 8: Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs.Report as inadecuate



 Vol 8: Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs.


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This article is from Frontiers in Computational Neuroscience, volume 8.AbstractIn this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were implemented in a modular, feed-forward locomotion controller. The controller was tested on a small, quadruped robot with compliant, segmented leg design, and led to self-stable and self-stabilizing robot locomotion. In-air stepping and on-ground locomotion leg kinematics were recorded, and the number and shapes of motion primitives accounting for 95% of the variance of kinematic leg data were extracted. This revealed that kinematic patterns resulting from feed-forward control had a lower complexity in-air stepping, 2–3 primitives than kinematic patterns from on-ground locomotion νm4 primitives, although both experiments applied identical motor patterns. The complexity of on-ground kinematic patterns had increased, through ground contact and mechanical entrainment. The complexity of observed kinematic on-ground data matches those reported from level-ground locomotion data of legged animals. Results indicate that a very low complexity of modular, rhythmic, feed-forward motor control is sufficient for level-ground locomotion in combination with passive compliant legged hardware.



Author: Sprowitz, Alexander T.; Ajallooeian, Mostafa; Tuleu, Alexandre; Ijspeert, Auke Jan

Source: https://archive.org/







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