Towards High Performance Quadrupedal Locomotion with Passive Hip Joint Compliance

Victor Zhang, Aadarsh Mehndiratta, Haoyong Yu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We present a new lightweight, cat-inspired, quadrupedal, cordless robot featuring two-segment limbs with passive compliant hip joints. Each limb has two degrees of freedom-hip and knee joints are actuated using servomotors. Simple electronics to command the actuators from a desktop computer have been embedded on the robot in order to test it. Both the inverse kinematics and the Central Pattern Generation (CPG) approaches have been used to produce stable crawl gaits, ranging from 13 cm/s to 50.2 cm/s, reaching a minimum Cost of Transport (CoT) of 3.12 J/N/m. Our passive compliant hip design was compared with traditional rigid hips and fared better in terms of the CoT overall and of the mean forward speed starting from a swing frequency of 21 rad/s.

Original languageEnglish
Title of host publicationICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages146-151
Number of pages6
ISBN (Electronic)9781538670668
DOIs
Publication statusPublished - 11-01-2019
Externally publishedYes
Event3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018 - Singapore, Singapore
Duration: 18-07-201820-07-2018

Publication series

NameICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics

Conference

Conference3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018
CountrySingapore
CitySingapore
Period18-07-1820-07-18

Fingerprint

Locomotion
Compliance
High Performance
Robot
Robots
Servomotors
Inverse Kinematics
Inverse kinematics
Gait
Costs
Personal computers
Actuator
Electronic equipment
Actuators
Degree of freedom
Electronics
Design

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization

Cite this

Zhang, V., Mehndiratta, A., & Yu, H. (2019). Towards High Performance Quadrupedal Locomotion with Passive Hip Joint Compliance. In ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics (pp. 146-151). [8610847] (ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM.2018.8610847
Zhang, Victor ; Mehndiratta, Aadarsh ; Yu, Haoyong. / Towards High Performance Quadrupedal Locomotion with Passive Hip Joint Compliance. ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 146-151 (ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics).
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abstract = "We present a new lightweight, cat-inspired, quadrupedal, cordless robot featuring two-segment limbs with passive compliant hip joints. Each limb has two degrees of freedom-hip and knee joints are actuated using servomotors. Simple electronics to command the actuators from a desktop computer have been embedded on the robot in order to test it. Both the inverse kinematics and the Central Pattern Generation (CPG) approaches have been used to produce stable crawl gaits, ranging from 13 cm/s to 50.2 cm/s, reaching a minimum Cost of Transport (CoT) of 3.12 J/N/m. Our passive compliant hip design was compared with traditional rigid hips and fared better in terms of the CoT overall and of the mean forward speed starting from a swing frequency of 21 rad/s.",
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Zhang, V, Mehndiratta, A & Yu, H 2019, Towards High Performance Quadrupedal Locomotion with Passive Hip Joint Compliance. in ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics., 8610847, ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics, Institute of Electrical and Electronics Engineers Inc., pp. 146-151, 3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018, Singapore, Singapore, 18-07-18. https://doi.org/10.1109/ICARM.2018.8610847

Towards High Performance Quadrupedal Locomotion with Passive Hip Joint Compliance. / Zhang, Victor; Mehndiratta, Aadarsh; Yu, Haoyong.

ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2019. p. 146-151 8610847 (ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Zhang V, Mehndiratta A, Yu H. Towards High Performance Quadrupedal Locomotion with Passive Hip Joint Compliance. In ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics. Institute of Electrical and Electronics Engineers Inc. 2019. p. 146-151. 8610847. (ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics). https://doi.org/10.1109/ICARM.2018.8610847