Simplified Triped Robot for Analysis of Three-Dimensional Gait Generation

Yoichi Masuda; Masato Ishikawa

doi:10.20965/jrm.2017.p0528

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JRM Vol.29 No.3 pp. 528-535

doi: 10.20965/jrm.2017.p0528

(2017)

Paper:

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Simplified Triped Robot for Analysis of Three-Dimensional Gait Generation

Yoichi Masuda and Masato Ishikawa

Graduate School of Engineering, Osaka University
2-1 Yamadaoka, Suita, Osaka 565-0871, Japan

Received:

January 19, 2017

Accepted:

February 27, 2017

Published:

June 20, 2017

Keywords:

legged locomotion, tripedal walking robot, compliant legs, gait generation, distributed control

Abstract

Significant efforts to simplify the body structure of multi-legged walking robots have been made over the years. Of these, the Spring-Loaded-Inverted-Pendulum (SLIP) model has been very popular, therefore widely employed in the design of walking robots. In this paper, we develop a SLIP-based tripedal walking robot with a focus on the geometric symmetry of the body structure. The proposed robot possesses a compact, light-weight, and compliant leg modules. These modules are controlled by a distributed control law that consists of decoupled oscillators with only local force feedback. As demonstrated through experiments, the simplified design of the robot makes possible the generation of high-speed dynamic locomotion. Despite the structural simplicity of the proposed model, the generation of several gait-patterns is demonstrated. The proposed minimalistic design approach with radial symmetry simplifies the function of each limb in the three-dimensional gait generation of the robot.

The tripedal robot “Martian petit”

Cite this article as:

Y. Masuda and M. Ishikawa, “Simplified Triped Robot for Analysis of Three-Dimensional Gait Generation,” J. Robot. Mechatron., Vol.29 No.3, pp. 528-535, 2017.

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References

[1] H.-W. Park, M. Y. Chuah, and S. Kim, “Quadruped bounding control with variable duty cycle via vertical impulse scaling,” 2014 IEEE/RSJ Conf. on Intelligent Robots and Systems, pp. 3245-3252, 2014.
[2] I. Poulakakis, E. Papadopoulos, and M. Buehler, “On the stability of the passive dynamics of quadrupedal running with a bounding gait,” The Int. J. of Robotics Research, Vol.25, No.7, pp. 669-687, 2006.
[3] A. Spröwitz, A. Tuleu, M. Vespignani, M. Ajallooeian, E. Badri, and A. J. Ijspeert, “Towards dynamic trot gait locomotion: Design, control, and experiments with cheetah-cub, a compliant quadruped robot,” The Int. J. of Robotics Research, Vol.32, No.8, pp. 932-950, 2013.
[4] R. Blickhan, “The spring-mass model for running and hopping,” J. of biomechanics, Vol.22, No.11-12, pp. 1217-1227, 1989.
[5] P. Holmes, R. J. Full, D. Koditschek, and J. Guckenheimer, “The dynamics of legged locomotion: Models, analyses, and challenges,” Siam Review, Vol.48, No.2, pp. 207-304, 2006.
[6] M. H. Raibert, “Legged robots,” Communications of the ACM, Vol.29, No.6, pp. 499-514, 1986.
[7] B. Zachary, K. Joohyung, and Y. Katsu, “Untethered one legged hopping in 3d using linear elastic actuator in parallel (leap),” the 14th Int. Symposium on Experimental Robotics (ISER), 2016.
[8] C. Hubicki, J. Grimes, M. Jones, D. Renjewski, A. Spröwitz, A. Abate, and J. Hurst, “Atrias: Design and validation of a tether-free 3d-capable spring-mass bipedal robot,” The Int. J. of Robotics Research, 0278364916648388, 2016.
[9] G. Kenneally, A. De, and D. Koditschek, “Design principles for a family of direct-drive legged robots,” IEEE Robotics and Automation Letters, Vol.1, No.2, pp. 900-907, 2016.
[10] R. Altendorfer, D. E. Koditschek, and P. Holmes, “Stability analysis of a clock-driven rigid-body slip model for rhex,” The Int. J. of Robotics Research, Vol.23, No.10-11, pp. 1001-1012, 2004.
[11] D. Owaki, T. Kano, K. Nagasawa, A. Tero, and A. Ishiguro, “Simple robot suggests physical interlimb communication is essential for quadruped walking,” J. of The Royal Society Interface, Vol.10, No.78, 20120669, 2013.
[12] D. Owaki, L. Morikawa, and A. Ishiguro, “Listen to body’s message: Quadruped robot that fully exploits physical interaction between legs,” 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1950-1955, 2012.
[13] M. Ishikawa, T. Kato, Y. Sugimoto, K. Osuka, and Y. Sankai, “Tripedal walking robot with fixed coxa driven by periodic rocking,” 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 163-168, 2012.
[14] K. Oki, M. Ishikawa, Y. Li, N. Yasutani, and K. Osuka, “Tripedal walking robot with fixed coxa driven by radially stretchable legs,” 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 5162-5167, 2015.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] H.-W. Park, M. Y. Chuah, and S. Kim, “Quadruped bounding control with variable duty cycle via vertical impulse scaling,” 2014 IEEE/RSJ Conf. on Intelligent Robots and Systems, pp. 3245-3252, 2014.

[2] [2] I. Poulakakis, E. Papadopoulos, and M. Buehler, “On the stability of the passive dynamics of quadrupedal running with a bounding gait,” The Int. J. of Robotics Research, Vol.25, No.7, pp. 669-687, 2006.

[3] [3] A. Spröwitz, A. Tuleu, M. Vespignani, M. Ajallooeian, E. Badri, and A. J. Ijspeert, “Towards dynamic trot gait locomotion: Design, control, and experiments with cheetah-cub, a compliant quadruped robot,” The Int. J. of Robotics Research, Vol.32, No.8, pp. 932-950, 2013.

[4] [4] R. Blickhan, “The spring-mass model for running and hopping,” J. of biomechanics, Vol.22, No.11-12, pp. 1217-1227, 1989.

[5] [5] P. Holmes, R. J. Full, D. Koditschek, and J. Guckenheimer, “The dynamics of legged locomotion: Models, analyses, and challenges,” Siam Review, Vol.48, No.2, pp. 207-304, 2006.

[6] [6] M. H. Raibert, “Legged robots,” Communications of the ACM, Vol.29, No.6, pp. 499-514, 1986.

[7] [7] B. Zachary, K. Joohyung, and Y. Katsu, “Untethered one legged hopping in 3d using linear elastic actuator in parallel (leap),” the 14th Int. Symposium on Experimental Robotics (ISER), 2016.

[8] [8] C. Hubicki, J. Grimes, M. Jones, D. Renjewski, A. Spröwitz, A. Abate, and J. Hurst, “Atrias: Design and validation of a tether-free 3d-capable spring-mass bipedal robot,” The Int. J. of Robotics Research, 0278364916648388, 2016.

[9] [9] G. Kenneally, A. De, and D. Koditschek, “Design principles for a family of direct-drive legged robots,” IEEE Robotics and Automation Letters, Vol.1, No.2, pp. 900-907, 2016.

[10] [10] R. Altendorfer, D. E. Koditschek, and P. Holmes, “Stability analysis of a clock-driven rigid-body slip model for rhex,” The Int. J. of Robotics Research, Vol.23, No.10-11, pp. 1001-1012, 2004.

[11] [11] D. Owaki, T. Kano, K. Nagasawa, A. Tero, and A. Ishiguro, “Simple robot suggests physical interlimb communication is essential for quadruped walking,” J. of The Royal Society Interface, Vol.10, No.78, 20120669, 2013.

[12] [12] D. Owaki, L. Morikawa, and A. Ishiguro, “Listen to body’s message: Quadruped robot that fully exploits physical interaction between legs,” 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1950-1955, 2012.

[13] [13] M. Ishikawa, T. Kato, Y. Sugimoto, K. Osuka, and Y. Sankai, “Tripedal walking robot with fixed coxa driven by periodic rocking,” 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 163-168, 2012.

[14] [14] K. Oki, M. Ishikawa, Y. Li, N. Yasutani, and K. Osuka, “Tripedal walking robot with fixed coxa driven by radially stretchable legs,” 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 5162-5167, 2015.