Dataset Information

A Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping.

ABSTRACT: The manner in which quadrupeds change their locomotive patterns-walking, trotting, and galloping-with changing speed is poorly understood. In this paper, we provide evidence for interlimb coordination during gait transitions using a quadruped robot for which coordination between the legs can be self-organized through a simple "central pattern generator" (CPG) model. We demonstrate spontaneous gait transitions between energy-efficient patterns by changing only the parameter related to speed. Interlimb coordination was achieved with the use of local load sensing only without any preprogrammed patterns. Our model exploits physical communication through the body, suggesting that knowledge of physical communication is required to understand the leg coordination mechanism in legged animals and to establish design principles for legged robots that can reproduce flexible and efficient locomotion.

SUBMITTER: Owaki D

PROVIDER: S-EPMC5428244 | biostudies-literature | 2017 Mar

REPOSITORIES: biostudies-literature

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A Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping.

Owaki Dai D Ishiguro Akio A

Scientific reports 20170321 1

The manner in which quadrupeds change their locomotive patterns-walking, trotting, and galloping-with changing speed is poorly understood. In this paper, we provide evidence for interlimb coordination during gait transitions using a quadruped robot for which coordination between the legs can be self-organized through a simple "central pattern generator" (CPG) model. We demonstrate spontaneous gait transitions between energy-efficient patterns by changing only the parameter related to speed. Inte ...[more]

PMID: 28325917

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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).

Project description:Interlimb coordination plays an important role in adaptive locomotion of humans and animals. This has been investigated using a split-belt treadmill, which imposes different speeds on the two sides of the body. Two types of adaptation have been identified, namely fast and slow adaptations. Fast adaptation induces asymmetric interlimb coordination soon after a change of the treadmill speed condition from same speed for both belts to different speeds. In contrast, slow adaptation slowly reduces the asymmetry after fast adaptation. It has been suggested that these adaptations are primarily achieved by the spinal reflex and cerebellar learning. However, these adaptation mechanisms remain unclear due to the complicated dynamics of locomotion. In our previous work, we developed a locomotion control system for a biped robot based on the spinal reflex and cerebellar learning. We reproduced the fast and slow adaptations observed in humans during split-belt treadmill walking of the biped robot and clarified the adaptation mechanisms from a dynamic viewpoint by focusing on the changes in the relative positions between the center of mass and foot stance induced by reflex and learning. In this study, we modified the control system for application to a quadruped robot. We demonstrate that even though the basic gait pattern of our robot is different from that of general quadrupeds (due to limitations of the robot experiment), fast and slow adaptations that are similar to those of quadrupeds appear during split-belt treadmill walking of the quadruped robot. Furthermore, we clarify these adaptation mechanisms from a dynamic viewpoint, as done in our previous work. These results will increase the understanding of how fast and slow adaptations are generated in quadrupedal locomotion on a split-belt treadmill through body dynamics and sensorimotor integration via the spinal reflex and cerebellar learning and help the development of control strategies for adaptive locomotion of quadruped robots.

Dataset Information

A Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping.

Publications

A Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping.

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