Kinematic primitives for a quadruped robot walk and trot with compliant legs
In 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 locomotio...
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Frontiers Media S.A.
2014-03-01
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doaj-9b9d5147598b46919b56ecbaa1cb33d82020-11-24T22:38:08ZengFrontiers Media S.A.Frontiers in Computational Neuroscience1662-51882014-03-01810.3389/fncom.2014.0002770395Kinematic primitives for a quadruped robot walk and trot with compliant legsAlexander Thomas Sprowitz0Mostafa eajallooeian1Alexandre eTuleu2Auke Jan Ijspeert3ÉCOLE POLYTECHNIQUE FÉDÉRALE DE LAUSANNEÉCOLE POLYTECHNIQUE FÉDÉRALE DE LAUSANNEÉCOLE POLYTECHNIQUE FÉDÉRALE DE LAUSANNEÉCOLE POLYTECHNIQUE FÉDÉRALE DE LAUSANNEIn 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 to 3 primitives) than kinematic patterns from on-ground locomotion (4 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.http://journal.frontiersin.org/Journal/10.3389/fncom.2014.00027/fullcentral pattern generatormotion primitivesentrainmentCoupled oscillatorslocomotion patternsquadruped robot |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Alexander Thomas Sprowitz Mostafa eajallooeian Alexandre eTuleu Auke Jan Ijspeert |
spellingShingle |
Alexander Thomas Sprowitz Mostafa eajallooeian Alexandre eTuleu Auke Jan Ijspeert Kinematic primitives for a quadruped robot walk and trot with compliant legs Frontiers in Computational Neuroscience central pattern generator motion primitives entrainment Coupled oscillators locomotion patterns quadruped robot |
author_facet |
Alexander Thomas Sprowitz Mostafa eajallooeian Alexandre eTuleu Auke Jan Ijspeert |
author_sort |
Alexander Thomas Sprowitz |
title |
Kinematic primitives for a quadruped robot walk and trot with compliant legs |
title_short |
Kinematic primitives for a quadruped robot walk and trot with compliant legs |
title_full |
Kinematic primitives for a quadruped robot walk and trot with compliant legs |
title_fullStr |
Kinematic primitives for a quadruped robot walk and trot with compliant legs |
title_full_unstemmed |
Kinematic primitives for a quadruped robot walk and trot with compliant legs |
title_sort |
kinematic primitives for a quadruped robot walk and trot with compliant legs |
publisher |
Frontiers Media S.A. |
series |
Frontiers in Computational Neuroscience |
issn |
1662-5188 |
publishDate |
2014-03-01 |
description |
In 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 to 3 primitives) than kinematic patterns from on-ground locomotion (4 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. |
topic |
central pattern generator motion primitives entrainment Coupled oscillators locomotion patterns quadruped robot |
url |
http://journal.frontiersin.org/Journal/10.3389/fncom.2014.00027/full |
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