Document Detail


Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs.
MedLine Citation:
PMID:  24639645     Owner:  NLM     Status:  PubMed-not-MEDLINE    
Abstract/OtherAbstract:
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, 2-3 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.
Authors:
Alexander T Spröwitz; Mostafa Ajallooeian; Alexandre Tuleu; Auke Jan Ijspeert
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Publication Detail:
Type:  Journal Article     Date:  2014-03-07
Journal Detail:
Title:  Frontiers in computational neuroscience     Volume:  8     ISSN:  1662-5188     ISO Abbreviation:  Front Comput Neurosci     Publication Date:  2014  
Date Detail:
Created Date:  2014-03-18     Completed Date:  2014-03-18     Revised Date:  2014-03-20    
Medline Journal Info:
Nlm Unique ID:  101477956     Medline TA:  Front Comput Neurosci     Country:  Switzerland    
Other Details:
Languages:  eng     Pagination:  27     Citation Subset:  -    
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