TY - GEN
T1 - Characterization of dynamic behaviors in a hexapod robot
AU - Komsuoglu, Haldun
AU - Majumdar, Anirudha
AU - Aydin, Yasemin Ozkan
AU - Koditschek, Daniel E.
N1 - Publisher Copyright:
© Springer-Verlag Berlin Heidelberg 2014.
PY - 2014
Y1 - 2014
N2 - This paper investigates the relationship between energetic efficiency and the dynamical structure of a legged robot’s gait.We present an experimental data set collected from an untethered dynamic hexapod, EduBot [1] (a RHex-class [2] machine), operating in four distinct manually selected gaits. We study the robot’s single tripod stance dynamics of the robot which are identified by a purely jointspace-driven estimation method introduced in this paper. Our results establish a strong relationship between energetic efficiency (simultaneous reduction in power consumption and increase in speed) and the dynamical structure of an alternating tripod gait as measured by its fidelity to the SLIP mechanics—a dynamical pattern exhibiting characteristic exchanges of kinetic and spring-like potential energy [3]. We conclude that gaits that are dynamic in this manner give rise to better utilization of energy for the purposes of locomotion.
AB - This paper investigates the relationship between energetic efficiency and the dynamical structure of a legged robot’s gait.We present an experimental data set collected from an untethered dynamic hexapod, EduBot [1] (a RHex-class [2] machine), operating in four distinct manually selected gaits. We study the robot’s single tripod stance dynamics of the robot which are identified by a purely jointspace-driven estimation method introduced in this paper. Our results establish a strong relationship between energetic efficiency (simultaneous reduction in power consumption and increase in speed) and the dynamical structure of an alternating tripod gait as measured by its fidelity to the SLIP mechanics—a dynamical pattern exhibiting characteristic exchanges of kinetic and spring-like potential energy [3]. We conclude that gaits that are dynamic in this manner give rise to better utilization of energy for the purposes of locomotion.
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U2 - 10.1007/978-3-642-28572-1_46
DO - 10.1007/978-3-642-28572-1_46
M3 - Conference contribution
AN - SCOPUS:84928239015
T3 - Springer Tracts in Advanced Robotics
SP - 667
EP - 684
BT - Experimental Robotics - The 12th International Symposium on Experimental Robotics
A2 - Khatib, Oussama
A2 - Kumar, Vijay
A2 - Sukhatme, Gaurav
PB - Springer Verlag
T2 - 12th International Symposium on Experimental Robotics, ISER 2010
Y2 - 18 December 2010 through 21 December 2010
ER -