Dataset Information

Directionally compliant legs influence the intrinsic pitch behaviour of a trotting quadruped.

ABSTRACT: Limb design is well conserved among quadrupeds, notably, the knees point forward (i.e. cranial inclination of femora) and the elbows point back (i.e. caudal inclination of humeri). This study was undertaken to examine the effects of joint orientation on individual leg forces and centre of mass dynamics. Steady-speed trotting was simulated in two quadrupedal models. Model I had the knee and elbow orientation of a quadruped and model II had a reversed leg configuration in which knees point back and elbows point forward. The model's legs showed directional compliance determined by the orientation of the knee/elbow. In both models, forward pointing knees/elbows produced a propulsive force bias, while rearward pointing knees/elbows produced a braking force bias. Hence, model I showed the same pattern of hind-leg propulsion and fore-leg braking observed in trotting animals. Simulations revealed minimal pitch oscillations during steady-speed trotting of model I, but substantially greater and more irregular pitch oscillations of model II. The reduced pitch oscillation of model I was a result of fore-leg and hind-leg forces that reduced pitching moments during early and late stance, respectively. This passive mechanism for reducing pitch oscillations was an emergent property of directionally compliant legs with the fore-hind configuration of model I. Such intrinsic stability resulting from mechanical design can simplify control tasks and lead to more robust running machines.

SUBMITTER: Lee DV

PROVIDER: S-EPMC1564074 | biostudies-literature | 2005 Mar

REPOSITORIES: biostudies-literature

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Publications

Directionally compliant legs influence the intrinsic pitch behaviour of a trotting quadruped.

Lee David V DV Meek Sanford G SG

Proceedings. Biological sciences 20050301 1563

Limb design is well conserved among quadrupeds, notably, the knees point forward (i.e. cranial inclination of femora) and the elbows point back (i.e. caudal inclination of humeri). This study was undertaken to examine the effects of joint orientation on individual leg forces and centre of mass dynamics. Steady-speed trotting was simulated in two quadrupedal models. Model I had the knee and elbow orientation of a quadruped and model II had a reversed leg configuration in which knees point back an ...[more]

PMID: 15817430

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Project description:We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-cat sized, 5.1 kg robot is one of a kind of a recent, bioinspired legged robot class designed with the capability of model-free locomotion control. Animal legged locomotion in rough terrain is clearly shaped by sensor feedback systems. Results with Oncilla robot show that agile and versatile locomotion is possible without sensory signals to some extend, and tracking becomes robust when feedback control is added (Ajallooeian, 2015). By incorporating mechanical and control blueprints inspired from animals, and by observing the resulting robot locomotion characteristics, we aim to understand the contribution of individual components. Legged robots have a wide mechanical and control design parameter space, and a unique potential as research tools to investigate principles of biomechanics and legged locomotion control. But the hardware and controller design can be a steep initial hurdle for academic research. To facilitate the easy start and development of legged robots, Oncilla-robot's blueprints are available through open-source. The robot's locomotion capabilities are shown in several scenarios. Specifically, its spring-loaded pantographic leg design compensates for overdetermined body and leg postures, i.e., during turning maneuvers, locomotion outdoors, or while going up and down slopes. The robot's active degree of freedom allow tight and swift direction changes, and turns on the spot. Presented hardware experiments are conducted in an open-loop manner, with little control and computational effort. For more versatile locomotion control, Oncilla-robot can sense leg joint rotations, and leg-trunk forces. Additional sensors can be included for feedback control with an open communication protocol interface. The robot's customized actuators are designed for robust actuation, and efficient locomotion. It trots with a cost of transport of 3.2 J/(Nm), at a speed of 0.63 m s-1 (Froude number 0.25). The robot trots inclined slopes up to 10°, at 0.25 m s-1. The multi-body Webots model of Oncilla robot, and Oncilla robot's extensive software architecture enables users to design and test scenarios in simulation. Controllers can directly be transferred to the real robot. Oncilla robot's blueprints are open-source published (hardware GLP v3, software LGPL v3).

Dataset Information

Directionally compliant legs influence the intrinsic pitch behaviour of a trotting quadruped.

Publications

Directionally compliant legs influence the intrinsic pitch behaviour of a trotting quadruped.

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