Between-leg coupling schemes for passively-adaptive non-redundant legged robots
File(s)ICRA17_2329_FI.pdf (3.66 MB)
Accepted version
Author(s)
Kanner, O
Rojas, N
Dollar, AM
Type
Conference Paper
Abstract
This paper studies the synthesis of between-leg coupling schemes for passively-adaptive non-redundant legged robots. Highly actuated legged robots can arbitrarily locate their feet relative to their bodies through active control, but often wind up kinematically over-constrained following ground contact, requiring complex redundant control for stable locomotion. The use of passive sprung joints can provide some minimal passive adaptability to terrain, but it is limited to relatively low terrain variability due to practical travel limits. In this paper, using a 4-RR platform as case study, we show that implementing parallel adaptive couplings between legs of a stance platform can yield substantial passive adaptability to rough terrain while still ensuring that the body is fully constrained in stance. This study uses screw theory-based mobility analysis methods to determine the number of constraints required to control the stance platform. Several coupling schemes are then considered and evaluated through a simulation of their stance capabilities over arbitrary terrain. An experimental validation of these simulation results is presented; it demonstrates the viability of the proposed scheme for passive adaptability.
Date Issued
2017-07-24
Date Acceptance
2017-01-15
Publisher
IEEE
Journal / Book Title
2017 IEEE International Conference on Robotics and Automation (ICRA)
Copyright Statement
© 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Source Database
manual-entry
Source
2017 IEEE International Conference on Robotics and Automation (ICRA)
Publication Status
Published
Start Date
2017-05-29
Finish Date
2017-06-03
Country
Singapore