The Merits of Passive Compliant Joints in Legged Locomotion: Fast Learning, Superior Energy Efficiency and Versatile Sensing in a Quadruped Robot

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00304949" target="_blank" >RIV/68407700:21230/17:00304949 - isvavai.cz</a>

Výsledek na webu

<a href="http://www.sciencedirect.com/science/article/pii/S1672652916603748" target="_blank" >http://www.sciencedirect.com/science/article/pii/S1672652916603748</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/S1672-6529(16)60374-8" target="_blank" >10.1016/S1672-6529(16)60374-8</a>

Jazyk výsledku

angličtina

Název v původním jazyce

The Merits of Passive Compliant Joints in Legged Locomotion: Fast Learning, Superior Energy Efficiency and Versatile Sensing in a Quadruped Robot

Popis výsledku v původním jazyce

A quadruped robot with four actuated hip joints and four passive highly compliant knee joints is used to demonstrate the potential of underactuation from two standpoints: learning locomotion and perception. First, we show that: (i) forward locomotion on flat ground can be learned rapidly (minutes of optimization time); (ii) a simulation study reveals that a passive knee configuration leads to faster, more stable, and more efficient locomotion than a variant of the robot with active knees; (iii) the robot is capable of learning turning gaits as well. The merits of underactuation (reduced controller complexity, weight, and energy consumption) are thus preserved without compromising the versatility of behavior. Direct optimization on the reduced space of active joints leads to effective learning of model-free controllers. Second, we find passive compliant joints with potentiometers to effectively complement inertial sensors in a velocity estimation task and to outperform inertial and pressure sensors in a terrain detection task. Encoders on passive compliant joints thus constitute a cheap and compact but powerful sensing device that gauges joint position and force/torque, and — if mounted more distally than the last actuated joints in a legged robot — it delivers valuable information about the interaction of the robot with the ground.

Název v anglickém jazyce

The Merits of Passive Compliant Joints in Legged Locomotion: Fast Learning, Superior Energy Efficiency and Versatile Sensing in a Quadruped Robot

Popis výsledku anglicky

A quadruped robot with four actuated hip joints and four passive highly compliant knee joints is used to demonstrate the potential of underactuation from two standpoints: learning locomotion and perception. First, we show that: (i) forward locomotion on flat ground can be learned rapidly (minutes of optimization time); (ii) a simulation study reveals that a passive knee configuration leads to faster, more stable, and more efficient locomotion than a variant of the robot with active knees; (iii) the robot is capable of learning turning gaits as well. The merits of underactuation (reduced controller complexity, weight, and energy consumption) are thus preserved without compromising the versatility of behavior. Direct optimization on the reduced space of active joints leads to effective learning of model-free controllers. Second, we find passive compliant joints with potentiometers to effectively complement inertial sensors in a velocity estimation task and to outperform inertial and pressure sensors in a terrain detection task. Encoders on passive compliant joints thus constitute a cheap and compact but powerful sensing device that gauges joint position and force/torque, and — if mounted more distally than the last actuated joints in a legged robot — it delivers valuable information about the interaction of the robot with the ground.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2017

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Journal of Bionic Engineering

ISSN

1672-6529

e-ISSN

1672-6529

Svazek periodika

14

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

CN - Čínská lidová republika

Počet stran výsledku

14

Strana od-do

1-14

Kód UT WoS článku

000392361500001

EID výsledku v databázi Scopus

2-s2.0-85007313072