Article
Chemistry, Multidisciplinary
Taarun Srinivas, Adithya Krishna Karigiri Madhusudhan, Lokeshwaran Manohar, Nikhit Mathew Stephen Pushpagiri, Kuppan Chetty Ramanathan, Mukund Janardhanan, Izabela Nielsen
Summary: This study focuses on developing and investigating gaits for a mammal-inspired quadruped robot, utilizing forward and inverse kinematic techniques to determine joint angles and center of gravity, and improving robot performance through a meta-heuristic algorithm. Experimental results demonstrate the effectiveness of the proposed algorithm and the stability of the robot in various gaits.
APPLIED SCIENCES-BASEL
(2021)
Article
Computer Science, Information Systems
Yuan Lipeng, Li Bing
Summary: In order to enhance the adaptability of a quadruped robot to various terrains and ensure the stability of its posture during gait switching, it is necessary to plan different gaits for the robot. This paper mainly focuses on the switching between three different gaits, and proposes a switching control method based on dynamic and static combination. The feasibility and effectiveness of the proposed strategy are verified through simulation and physical prototype experiments using Matlab-Adams co-simulation analysis.
Article
Multidisciplinary Sciences
Michel Aractingi, Pierre-Alexandre Leziart, Thomas Flayols, Julien Perez, Tomi Silander, Philippe Soueres
Summary: This article presents an implementation of an end-to-end learning-based controller on the Solo12 quadruped robot, which is achieved by using deep reinforcement learning to learn joint impedance references. The resulting control policies are able to efficiently follow commanded velocity references, while being energy-efficient and easy to deploy.
SCIENTIFIC REPORTS
(2023)
Article
Computer Science, Artificial Intelligence
Tonnes F. Nygaard, Charles P. Martin, Jim Torresen, Kyrre Glette, David Howard
Summary: The study introduces the first quadrupedal robot capable of morphologically adapting to different environmental conditions in outdoor, unstructured environments. Through embodied AI and an adaptation algorithm, the robot transitions between the most energy-efficient morphologies based on currently sensed terrains, showing significant performance improvements over non-adaptive approaches. This demonstration highlights the potential for a new embodied way of incorporating adaptation into future robotic designs.
NATURE MACHINE INTELLIGENCE
(2021)
Article
Mechanics
Qiwei Zhang, Jian Xu, Hongbin Fang
Summary: This research advances the field of earthworm-like robots by studying spatial locomotion and addressing important issues such as multibody kinematic modeling, 3D gait generation, spatial locomotion mode classification, performance evaluation, and gait planning.
MULTIBODY SYSTEM DYNAMICS
(2023)
Article
Computer Science, Information Systems
Fikih Muhamad, Jung-Su Kim, Jae-Han Park
Summary: This paper presents a robust perception-based control policy to overcome noises in the robot's perception when crossing challenging terrains. The control policy can estimate states and reduce the effect of noises from both proprioceptive and exteroceptive observations, making it capable of handling a higher ratio of noise. The robustness of the control policy is validated through simulations and comparisons with recurrent networks.
Article
Biology
Eric J. McElroy, Michael C. Granatosky
Summary: The evolutionary history of asymmetrical gaits is still unclear, but it is likely an ancestral feature for gnathostomes and can be both lost and gained during evolution. The absence of asymmetrical gaits in certain lineages may be due to neuromuscular and anatomical constraints, or slow movement not associated with these gaits.
JOURNAL OF EXPERIMENTAL BIOLOGY
(2022)
Article
Engineering, Mechanical
Zigen Song, Jiayi Zhu, Jian Xu
Summary: This paper proposes a theoretical method based on delay-coupled VDP oscillators for constructing a locomotive gait controller for quadruped robots. By analyzing parameter conditions and dynamical classifications, and with the assistance of a switching network structure, six types of classical locomotive gaits are achieved. Numerical simulations validate the accuracy of the theoretical analysis.
NONLINEAR DYNAMICS
(2023)
Article
Engineering, Multidisciplinary
Jian Bi, Teng Chen, Xuewen Rong, Guoteng Zhang, Guanglin Lu, Jingxuan Cao, Han Jiang, Yibin Li
Summary: In this paper, an efficient adaptive diagonal gait locomotion controller inspired by nature is designed for quadruped robots. The gait planning method proposed adjusts the gait cycle time and the proportion of stance and swing phase of each leg to form a variety of gaits as the robot's speed varies. The controller calculates the optimal joint torque using Virtual Model Control (VMC) and Whole-Body Control (WBC) to achieve the desired motion. Experiments have shown that the controller can consume less energy compared to the basic controller when the robot runs at different speeds.
JOURNAL OF BIONIC ENGINEERING
(2023)
Article
Automation & Control Systems
Hao Sun, Junjie Yang, Yinghao Jia, Changhong Wang
Summary: This article proposes a free gait generation algorithm that only takes the robot state as input. By introducing the feasible impulse polytope, which takes into account both linear and angular momentum impulses acting on the body, a leg capability metric related to the effect of take-off and touch-down on the body motion is formulated. Gait sequence, take-off timing, and touch-down location can be automatically adjusted online based on a metric threshold.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Computer Science, Information Systems
Yeunhee Kim, Yeonseo Lee, Youngsu Cha
Summary: The study introduces an origami pump actuator based pneumatic quadruped robot (OPARO) with a four-leg system controlled by two motors. The forelegs and hindlegs operate simultaneously using a tendon-driven system. Through experiments, the mobility performance and operating mechanism are evaluated, with a maximum velocity of 0.11 body length per second. Additionally, gait patterns and steering performance are analyzed, showing the system's adequacy for a quadruped robot without external air supply.
Review
Mathematics, Interdisciplinary Applications
Yu. A. Tsybina, S. Yu. Gordleeva, A. I. Zharinov, I. A. Kastalskiy, A. V. Ermolaeva, A. E. Hramov, V. B. Kazantsev
Summary: Neuro- and biomorphic approaches in intelligent robotic systems have attracted attention from researchers and engineers. Fish-like swimming robots are simple candidates to reproduce biological mechanics of movement. However, current robotic solutions are still lacking in speed performance, power efficiency, and maneuverability.
CHAOS SOLITONS & FRACTALS
(2022)
Article
Computer Science, Artificial Intelligence
Wei Yan, Yang Pan, Junjie Che, Jiexian Yu, Zhuchen Han
Summary: This paper proposes a whole-body kinematic and dynamic modeling method based on screw theory for a quadruped robot, which can handle complex locomotion situations such as standing, walking, and floating phases effectively. Control strategies and a prototype robot are also introduced to verify the accuracy and efficiency of the models proposed.
PEERJ COMPUTER SCIENCE
(2021)
Article
Robotics
Moju Zhao, Tomoki Anzai, Takuzumi Nishio
Summary: This paper introduces a novel air-ground quadruped robot called SPIDAR, which utilizes spherically vectorable rotors distributed in each link to achieve both walking motion and transformable flight. Firstly, a unique mechanical design for the quadruped robot enabling terrestrial and aerial locomotion is presented. Then, a modeling method for this hybrid robot platform is revealed, and an integrated control strategy for both walking and flying with joint motion is developed. Finally, the feasibility of the proposed hybrid quadruped robot is demonstrated by performing a seamless motion involving static walking and subsequent flight. To the best of our knowledge, this is the first work to achieve a quadruped robot with multimodal locomotion capability.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Chemistry, Multidisciplinary
Yunde Shi, Shilin Li, Mingqiu Guo, Yuan Yang, Dan Xia, Xiang Luo
Summary: This study utilizes the physical-like mechanism of a bionic quadruped robot dog for designing, simulating, and implementing a structure capable of omnidirectional movements and smooth motions. Kinematic solutions, gait algorithms, and foot-ground contact modeling are explored to achieve the diagonal trot gait of the quadruped robot, which shows good balance during trot motion. The goal is to provide a comprehensive platform for novice researchers in studying the dynamics, contact modeling, gait planning, and attitude control of quadruped robots at an affordable cost.
APPLIED SCIENCES-BASEL
(2021)
