Optimal energy gaits for quadrupeds under variable locomotion conditions

This paper studies the adoption of periodic gaits of quadruped animals by multilegged artificial locomotion exercise. The purpose is to determine the gait to adopt at different velocities, under distinct robot and locomotion conditions, based on two performance measures. A set of experiments reveals the influence of the gait and the body and ground parameters upon the proposed indices. It is verified that the gait should be adapted to the robot forward velocity and to the conditions under which the robot is moving. The experiments also reveal that a gait that decreases the energy consumption generally implies an increase in the trajectory following errors.N/

Optimum Gait Selection for Quadruped Robots

This paper studies periodic gaits of quadruped animals and its application to multilegged artificial locomotion systems. The purpose is to determine the best set of gait and locomotion variables during walking, for different robot velocities and intrabody compliance characteristics, based on two formulated performance measures. A set of experiments reveals the influence of the gait and locomotion variables upon the proposed indices, namely that the gait and the locomotion parameters should be adapted to the robot forward velocity and to the robot intra-body compliance characteristics.N/

A literature review on the optimization of legged robots

Over the last two decades the research and development of legged locomotion robots has grown steadily. Legged systems present major advantages when compared with ‘traditional’ vehicles, because they allow locomotion in inaccessible terrain to vehicles with wheels and tracks. However, the robustness of legged robots, and especially their energy consumption, among other aspects, still lag behind mechanisms that use wheels and tracks. Therefore, in the present state of development, there are several aspects that need to be improved and optimized. Keeping these ideas in mind, this paper presents the review of the literature of different methods adopted for the optimization of the structure and locomotion gaits of walking robots. Among the distinct possible strategies often used for these tasks are referred approaches such as the mimicking of biological animals, the use of evolutionary schemes to find the optimal parameters and structures, the adoption of sound mechanical design rules, and the optimization of power-based indexes

Consideration of monoarticular and biarticular mechanisms

Aktuelle In-vivo-Methoden zur Bewertung der Belastung und Dehnung der Achillessehne (AT) in der biomechanischen Literatur haben bestimmte Einschränkungen, die sorgfältig berücksichtigt werden müssen. Daher hatte die erste Studie zum Ziel, die AT-Dehnung und -Kraft während der Fortbewegung mithilfe einer genauen, nicht-invasiven Methode zu messen. Die Länge der AT wurde unter Berücksichtigung ihrer Krümmung mit reflektierenden Folienmarkern von der Insertion am Fersenbein bis zum Übergang zwischen der Muskel-Sehnen-Verbindung des Musculus gastrocnemius medialis (GM-MTJ) gemessen. Die Kraft der AT wurde durch Anpassung einer quadratischen Funktion an die experimentelle Kraft-Längen-Kurve der Sehne ermittelt, die aus maximalen freiwilligen isometrischen Kontraktionen (MVC) gewonnen wurde. Die Ergebnisse der zweiten Studie zeigen, dass eine Erhöhung der Gehgeschwindigkeit zu einer 21%igen Abnahme der maximalen AT-Kraft bei höheren Geschwindigkeiten im Vergleich zur bevorzugten Geschwindigkeit führt, während die Nettobelastung der AT-Kraft am Sprunggelenk (ATF-Arbeit) in Abhängigkeit von der Gehgeschwindigkeit zunimmt. Darüber hinaus trugen eine frühere Plantarflexion, erhöhte elektromyografische Aktivität der Muskeln Sol und GM sowie der Energieübertrag von Knie- zu Sprunggelenk durch die biartikulären Musculi gastrocnemii zu einer 1,7- bzw. 2,4-fachen Zunahme der netto ATF-Mechanik-Arbeit bei Übergangs- und maximalen Gehgeschwindigkeiten bei. Das Ziel der dritten Studie war es, die in der ersten Studie vorgeschlagene Methode zu vereinfachen, indem die Anzahl der reflektierenden Folienmarker reduziert wurde, jedoch die hohe Genauigkeit beibehalten wurde. Die Krümmung der AT wurde mithilfe von reflektierenden Folienmarkern zwischen dem Ursprung des GM-MTJ und dem Einführungsmarker am Fersenbein beurteilt. Unsere Ergebnisse zeigen, dass eine Reduzierung der Anzahl der Folienmarker um 70% beim Gehen und um 50% beim Laufen zu einem marginalen Fehler führen würde und somit einen vernachlässigbaren Effekt auf die Länge der AT und die maximale Dehnungsmessung hätte.Current in vivo methods to assess the Achilles tendon (AT) strain and loading in the biomechanics literature have certain limitations that require careful consideration. Therefore, the first study was to measure the AT strain and quantify AT force during locomotion with an accurate non-invasive method. AT length was measured considering its curvature using reflective foil markers from AT insertion at calcaneus to gastrocnemius medialis muscle-tendon junction (GM-MTJ). The force of the AT was calculated by fitting a quadratic function to the experimental tendon force-length curve obtained from maximum voluntary isometric contractions (MVC). The findings in second study indicate that an increase in walking speed leads to a 21% decrease in maximum AT force at higher speeds compared to the preferred speed, yet the net work of the AT force at the ankle joint (ATF-work) increased as a function of walking speed. Additionally, an earlier plantar flexion, increased electromyographic activity of the Sol and GM muscles, and knee-to-ankle joint energy transfer via the biarticular gastrocnemii contributed to a 1.7 and 2.4-fold increase in the net ATF-mechanical work in the transition and maximum walking speeds. The objective of the third study was to simplify the proposed method in the first study by reducing the number of foil reflective markers while preserving high accuracy. The AT curvature was assessed using reflective foil markers between the GM-MTJ origin and the calcaneal insertion marker. Our results indicate that reducing the number of foil markers by 70% during walking and 50% during running would result in a marginal error and, thus, a negligible effect on the AT length and maximum strain measurement

ロボティクスのための深層強化学習による運動シナジー発現と冗長性定量化に関する研究

Tohoku University林部充宏課

Investigation of an Articulated Spine in a Quadruped Robotic System.

This research quantitatively analyzes a multi-body dynamics quadrupedal model with an articulated spine to evaluate the effects of speed and stride frequency on the energy requirements of the system. The articulated model consists of six planar, rigid bodies with a single joint in the middle of the torso. All joints are frictionless and mass is equally distributed in the limbs and torso. A model with the mid-torso joint removed, denoted as the rigid model, is used as a baseline comparison. Impulsive forces and torques are used to instantaneously reset the velocities at the phase transitions, allowing for ballistic trajectories during flight phases. Active torques at the haunch and shoulder joints are used during the stance phases to increase the model robustness. Simulations were conducted over effective high-speed gaits from 6.0 - 9.0 m/s. Stride frequencies were varied for both models. An evolutionary algorithm was employed to find plausible gaits based on biologically realistic constraints and bounds. The objective function for the optimization was cost of transport. Results show a decreasing cost of transport as speed increases for the articulated model with an optimal stride frequency of 3 s$^{-1}$ and an increasing cost of transport with increasing speed for the rigid model at an optimal stride frequency of 1.4 s$^{-1}$, with a crossover in the cost of transport between the two models occurring at 7.0 m/s. The rigid model favors low speeds and stride frequencies at the cost of a large impulsive vertical force, driving the system through a long, gathered flight phase used to cover the long distances at the low stride frequencies. The articulated model prefers higher speeds and stride frequencies at the cost of a large impulsive torque in the back joint, akin to the contraction of abdomen muscles, preventing the collapse of the back. Thus, it is demonstrated that the inclusion of back articulation enables a more energetically efficient high-speed gait than a rigid back system, as seen in biological systems. Detailed analysis is provided to identify the mechanics associated with the optimal gaits of both the rigid and the articulated systems to support this claim.Ph.D.Mechanical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/89831/1/bhaueise_1.pd

Energy efficiency of quadruped gaits

This paper studies periodic gaits of quadruped locomotion systems. The purpose is to determine the best set of gait and locomotion variables during walking, for different robot velocities, based on two formulated performance measures. A set of experiments reveals the influence of the gait and locomotion variables upon the proposed indices, namely that the gait and the locomotion parameters should be adapted to the robot forward velocity

Energy Efficiency of Quadruped Gaits

This paper studies periodic gaits of quadruped locomotion systems. The purpose is to determinate the best set of gait and locomotion variables during walking, for different robot velocities, based on two formulated performance measures. A set of experiments reveals the influence of the gait and locomotion variables upon the prposed indices, namely that the gait and the locomotion parameters should be adapted to the robot foward velocity.info:eu-repo/semantics/publishedVersio