Control of quadruped walking behavior through an embedding of spring loaded inverted pendulum template

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2022-8

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Yılmaz, Mert Kaan

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Legged robots require complex dynamical behaviours in order to achieve stable, sustainable and efficient locomotion. Due to their mobile nature, they can neither afford to provide extensive computational power, nor use anything but the most energy efficient structural designs and algorithms to achieve stability and speed. Consequently, simple and efficient ways to solve the complex set of problems is one of the key points of focus in legged robot locomotion research. This thesis offers a novel method that uses an active embedding of the Spring-Loaded Inverted Pendulum (SLIP) dynamical model within a planar quadruped model in order to reduce the complexity of the control problem while also keeping the overall locomotion as efficient as possible. In particular, we hypothesize that the embedding of the SLIP model is particularly effective when used in conjunction with legs that incorporate compliance in parallel with the traditionally fully-actuated leg structures in most modern quadruped platforms. We first show in simulation, using a planar quadruped model with fully actuated 2DOF legs, how the embedding of the SLIP model is performed, and compare the locomotion performance with other contemporary methods. Subsequently, we show that the leg force profiles that arise from this embedding can largely be generated passively with the incorporation of parallel leg compliance during steady-state running, with only a small amount of energy expenditure necessary during stance to achieve stability and compensation of losses. We also provide comparative results to illustrate the efficiency of this approach for potential platforms with parallel compliance incorporated into the leg structure.

Subject Keywords

Legged robots, Quadruped, Locomotion control, Energy efficiency, Spring-loaded inverted pendulum, Template-based control

URI

https://hdl.handle.net/11511/99626

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Graduate School of Natural and Applied Sciences, Thesis

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Citation Formats

M. K. Yılmaz, “Control of quadruped walking behavior through an embedding of spring loaded inverted pendulum template,” M.S. - Master of Science, Middle East Technical University, 2022.