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Characterization of Dynamic Behaviors in a Hexapod Robot

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Experimental Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 79))

Abstract

This paper investigates the relationship between energetic efficiency and the dynamical structure of a legged robot’s gait. We present an experimental data set collected from an untethered dynamic hexapod, EduBot [1] (a RHex-class [2] machine), operating in four distinct manually selected gaits. We study the robot’s single tripod stance dynamics of the robot which are identified by a purely jointspace-driven estimation method introduced in this paper. Our results establish a strong relationship between energetic efficiency (simultaneous reduction in power consumption and increase in speed) and the dynamical structure of an alternating tripod gait as measured by its fidelity to the SLIP mechanics—a dynamical pattern exhibiting characteristic exchanges of kinetic and spring-like potential energy [3]. We conclude that gaits that are dynamic in this manner give rise to better utilization of energy for the purposes of locomotion.

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Author information

Authors and Affiliations

  1. University of Pennsylvania, Philadelphia, USA

    Haldun Komsuoglu, Anirudha Majumdar & Daniel E. Koditschek

  2. Middle East Technical University, Ankara, Turkey

    Yasemin Ozkan Aydin

Authors
  1. Haldun Komsuoglu
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  2. Anirudha Majumdar
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  3. Yasemin Ozkan Aydin
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  4. Daniel E. Koditschek
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Corresponding author

Correspondence to Haldun Komsuoglu .

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Editors and Affiliations

  1. Artificial Intelligence Laboratory, Stanford University Dept. Computer Science, Stanford, California, USA

    Oussama Khatib

  2. Department of Mechanical Engineering, University of Pennsylvania GRASP Laboratory, Philadelphia, Pennsylvania, USA

    Vijay Kumar

  3. Department of Computer Science, University of Southern California MC 290, California, USA

    Gaurav Sukhatme

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Komsuoglu, H., Majumdar, A., Aydin, Y.O., Koditschek, D.E. (2014). Characterization of Dynamic Behaviors in a Hexapod Robot. In: Khatib, O., Kumar, V., Sukhatme, G. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 79. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-28572-1_46

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  • DOI: https://doi.org/10.1007/978-3-642-28572-1_46

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-28571-4

  • Online ISBN: 978-3-642-28572-1

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