Between-leg coupling schemes for passively-adaptive non-redundant legged robots

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Title: Between-leg coupling schemes for passively-adaptive non-redundant legged robots
Authors: Kanner, O
Rojas, N
Dollar, AM
Item Type: Conference Paper
Abstract: This pa per 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 o ver - 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 p ractical 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 bo dy 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.
Issue Date: 29-May-2017
Date of Acceptance: 15-Jan-2017
URI: http://hdl.handle.net/10044/1/44408
Publisher: IEEE
Copyright Statement: This paper is embargoed until publication.
Conference Name: 2017 IEEE International Conference on Robotics and Automation (ICRA)
Publication Status: Accepted
Start Date: 2017-05-29
Finish Date: 2017-06-03
Conference Place: Singapore
Embargo Date: publication subject to indefinite embargo
Appears in Collections:Faculty of Engineering
Dyson School of Design Engineering



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