Scribd
Upload
8 views

1-1 Introduction to Legged Robotics

Uploaded by

Danielle Abreu Fortunato
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
8 views

1-1 Introduction to Legged Robotics

Uploaded by

Danielle Abreu Fortunato
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 13

Legged Robotics

Machine build similarly to humans or


animals

Eric Rohmer material is a courtesy of Prof. Marco Hutter of ETHZ


Agenda
• Overview of different kinds of existing
machines
• Static walking principle
• Dynamic walking principles
Objective
• Understanding why building such machines
• How do they work
• What are the main challenges to control them
Different types of legged robots

RalbertHopper ASIMO starIETH LEON T8 ZineDyn


MIT Honda ETHZ Tohoku university Robugtix KAIST

1 2 4 6 8 n

Broad scope of machines with different:


• number of legs
• skills
• and purposes
Different types of legged robots

RalbertHopper ASIMO starIETH LEON T8 ZineDyn


MIT Honda ETHZ Tohoku university Robugtix KAIST

1 2 4 6 8 n
Number of legs influences
This example indicates that some
• Mechanical complexity gaits like crawling on 4 legs are more
• Control complexity stable and require less control action,
while other gaits like walking on 2
legs are more challenging in terms of
control and coordination.
Analogy in Nature
• Insects can walk directly upon birth
• Most mammals require several minutes to stand
• Humans require more than a year to walk on two legs
Static and Dynamic gaits

RalbertHopper ASIMO starIETH LEON T8 ZineDyn


MIT Honda ETHZ Tohoku university Robugtix KAIST

1 2 4 6 8 n

Dynamic gaits Static gaits


• “System is stabilized on a • “System is statically stable”
limit cycle” • does NOT fall if stopped
• Falls over if stopped
Quadrupedal robots
Point feet instead of surface feet
• Low mechanical complexity
• High robustness (no actuators in feet)

3 DoF per leg


starIETH
ETHZ • Minimal number of actuators to place the feet anywhere
4 • No redundancy

Dynamic gaits Static gaits


• “System is stabilized on a • “System is statically stable”
limit cycle” • does NOT fall if stopped
• Falls over if stopped
Static locomotion
Gait execution
• Body weight supported by ≥3 legs
• Move one foot at the time
• CoG shifted between support polygons

• The body is always supported by at


least 3 legs
• The center of gravity is kept within the
support polygon
• One leg is move at a time to
locomote forward
Static locomotion
Gait execution
• Body weight supported by ≥3 legs
• Move one foot at the time for quadrupeds
• CoG shifted between support polygons

Gait characteristics
• Statically stable
• Well-suited for climbing
• Slow and energetically
inefficient
Dynamic locomotion
Gait execution
• Body weight supported by <3 legs
• Move multiple feet at the time
• Robot is balances on a step-to-step basis

Gait characteristics
• Statically unstable
• Well-suited for fast motion
• Fast and energetically efficient
• Demanding for actuation and
control
Locomotion control
1. Stepping sequence defined by gait pattern (gait timing)

Static walking: moving 1 foot at a Dynamic trotting: moving diagonal Galloping: rotary gallop here
time pair of legs and having a
2. Stepping location simultaneous ground contact

• Propel the robot forward and maintain stability


• React to terrain elevation or cross obstacles
Locomotion control
1. Stepping sequence defined by gait pattern

Kinematic: as you need to know how to adjust the motors position


2. Stepping location or velocities so the foot follow a desired trajectory to the goal
steeping location
• Propel the robot forward and maintain stability
• React to terrain elevation or cross obstacles

3. Contact force distribution


• Compensate gravity and accelerate the main body
• Ensure contact stability and optimize energetic efficiency
Locomotion control
1. Stepping sequence defined by gait pattern

2. Stepping location
• Propel the robot forward and maintain stability
• React to terrain elevation or cross obstacles

3. Contact force distribution


• Compensate gravity and accelerate the main body
• Ensure contact stability and optimize energetic efficiency

You might also like

pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy