Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 8, Issue 10, Pages 6131-6138Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2023.3300249
Keywords
Legged robots; biologically-inspired robots; humanoid and bipedal locomotion
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Developing animal-inspired gaits for quadruped robots has become popular, but methods for achieving gait transitions have received limited attention. This study presents a bio-inspired gait transition method based on the Froude number, allowing stable transitions between gaits. Simulations and hardware experiments were conducted to validate the effectiveness and generality of the proposed method.
Developing gaits inspired by animal locomotion for quadruped robots has become a prevalent approach in achieving dynamic locomotion. Analogous to animal gaits, they exhibit optimal effectiveness at specific velocities, necessitating the transitions between them for enhanced locomotion proficiency. Despite the significance of these transitions, methods for achieving them have received comparatively limited attention. For successful gait transitions, stability and suitable velocities are essential to maintain efficiency. In this study, a bio-inspired gait transition method has been devised, capitalising on the Froude number-a parameter characterising the velocity at which different-sized quadrupeds alter their gaits. By formulating a set of governing equations contingent on the Froude number, stable gait transitions can be generated. A series of simulations were conducted to determine the optimal Froude number ranges for various gaits and to validate the generality of this method by applying it to four distinct quadrupeds. To assess the performance of the gait transitions, a series of hardware experiments were executed, demonstrating a variety of gait transitions, comparing the proposed transition method with existing alternatives and testing its generality.
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