A Simple Body-limb Coordination Model that Mimics Primitive Tetrapod Walking

Auke Ijspeert, Shura Suzuki
IEEE, 2017
Article de conférence

The coordination of body and limbs motions contributes to effective propulsion in limed locomotion. However, there is lack of understanding that characterizes the mechanism underlying the body-limb coordination. The aim of this study involves clarifying the mechanism through mathematical modeling and dynamic simulation. To this end, a body-limb coordination model was designed based on a simple rule by effectively using a pivot turn. The model successfully generated locomotion similar to primitive tetrapod walking, e.g. salamander and Polypterus walking based on their physical properties.

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Auke Ijspeert, Shura Suzuki
IEEE, 2017
Article de conférence

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https://infoscience.epfl.ch/record/233877?ln=fr

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Investigating Sensorimotor Control in Locomotion using Robots and Mathematical Models

Robin Thandiackal

Locomotion is a very diverse phenomenon that results from the interactions of a body and its environment and enables a body to move from one position to another. Underlying control principles rely among others on the generation of intrinsic body movements, adaptation and synchronization of those movements with the environment, and the generation of respective reaction forces that induce locomotion. We use mathematical and physical models, namely robots, to investigate how movement patterns emerge in a specific environment, and to what extent central and peripheral mechanisms contribute to movement generation. We explore insect walking, undulatory swimming and bimodal terrestrial and aquatic locomotion. We present relevant findings that explain the prevalence of tripod gaits for fast climbing based on the outcome of an optimization procedure. We also developed new control paradigms based on local sensory pressure feedback for anguilliform swimming, which include oscillator-free and decoupled control schemes, and a new design methodology to create physical models for locomotion investigation based on a salamander-like robot. The presented work includes additional relevant contributions to robotics, specifically a new fast dynamically stable walking gait for hexapedal robots and a decentralized scheme for highly modular control of lamprey-like undulatory swimming robots.

EPFL2017

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An Overview on Principles for Energy Efficient Robot Locomotion

Salman Faraji

Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy efficiency in legged robotic systems, this paper provides an overview on recent advancements in development of such platforms. The covered different perspectives include actuation, leg structure, control and locomotion principles. We review various robotic actuators exploiting compliance in series and in parallel with the drive-train to permit energy recycling during locomotion. We discuss the importance of limb segmentation under efficiency aspects and with respect to design, dynamics analysis and control of legged robots. This paper also reviews a number of control approaches allowing for energy efficient locomotion of robots by exploiting the natural dynamics of the system, and by utilizing optimal control approaches targeting locomotion expenditure. To this end, a set of locomotion principles elaborating on models for energetics, dynamics, and of the systems is studied.

FRONTIERS MEDIA SA2018

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Role of Compliance on the Locomotion of a Reconfigurable Modular Snake Robot

Stéphane Bonardi, Auke Ijspeert, Kamilo Andres Melo Becerra, Massimo Vespignani

This paper presents the results of a study on the effect of in-series compliance on the locomotion of a simulated 8-DoF Lola-OP Modular Snake Robot with added compliant elements. We explore whether there is an optimal stiffness for gait, terrain type, or several gaits and several terrains (i.e. a good “general-purpose” stiffness). Compliance was simulated using ball joints with eight different levels of stiffness. Two snake locomotion gaits (rolling and sidewinding) were tested over flat ground and three different types of rough terrains. We performed grid search and Particle Swarm Optimization to identify the locomotion parameters leading to fast locomotion and analyzed the best candidates in terms of locomotion speed and energy efficiency (cost of transport). Contrary to our expectations, we did not observe a clear trend that would favor the use of compliant elements over rigid structures. For sidewinding, compliant and stiff elements lead to comparable performances. For rolling gait, the general rule seems to be “the stiffer, the better”.

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