While numerous gait families have been defined and studied for legged systems traversing level ground (e.g. walking, running, bounding, etc), formal distinctions yet to be developed dynamic gaits in the vertical regime. Recognition understanding of different has clear implications control strategy, efficiency, stability. several climbing robotic described as achieving 'running' behaviors on surfaces, question whether distinct exist what differentiates these not rigorously explored. In this...

Autonomous navigation through unstructured terrains has been most effectively demonstrated by animals, who utilize a large set of locomotive styles to move their native habitats. While legged robots have recently several these locomotion modalities (such as walking, running, jumping, and climbing vertical walls), motion planners yet be able leverage unique mobility characteristics. In this article, we outline some the specific planning challenges faced when attempting plan for systems with...

Dynamic legged robots are capable of a wide range behaviors, such as running, climbing, and jumping. Often the leg morphology compliance tailored to these specific behaviors. In this paper, we examine design modifications 5-bar closed-loop kinematic that enable both fast, stable running well energetic After investigating jumping dynamics design, control was implemented transition between desired configurations for each dynamic behavior in order produce maximum obstacle negotiation.

This paper describes the design, control and initial experimental results of quadruped robot LLAMA. Designed to operate in a human-scale world, this 67kg-class, all-electric is capable rapid motion over variety terrains. Thanks unique leg configuration custom high-torque, low gear-ratio motors, it can move omnidirectionally at speeds 1 m/s. A hierarchical reactive scheme allows for robust efficient even under variable payloads. structure controller outlines simulation that probe performance...

The design process for leg morphology has taken much of its inspiration from the manipulator community, including concept maximizing workspace a design. In this paper, we define Effective Dynamic Workspace, which examines subset overall capable achieving desired template dynamics. With new tool, configuration multi-modal platform BOBCAT is examined and refined. refined design, able to achieve speeds 2m/s while running 0.17m/s climbing vertical wall.

Legged robots are capable of navigating rough terrain, but have traditionally been restricted to slow speeds. New combine the power density necessary for rapid motions with increasingly sophisticated leg designs. Developing controllers that effectively coordinate these high-DOF legs generate fast, agile is challenging. In this paper we examine a pair control approaches high-speed trotting direct-drive quadruped robot Minitaur. We first show optimization redesigned feed-forward trajectory...

Abstract Many legged robots have taken insight from animals to run, jump, and climb. Very few, however, extended the flexibility of limbs task swimming. In this paper, we address study multi-modal limbed locomotion by extending our lateral plane reduced order dynamic model climbing Following this, develop a robot, AquaClimber, which utilizes model’s locomotive style, similar human freestyle swimming, propel itself through fluid climb vertical walls, as well transition between two. A...

In this paper, we examine the reduced order pendular dynamic climbing model with addition of attachment windows based on prescribed body roll. With and new platform, TAILS, demonstrate downward as well identify distinct gaits within climbing. This, combined application an asymmetric configuration rear legs enables strafing motions thus maneuverability walls in vertical domain.

This paper describes the development of a single reduced-order dynamic model that captures running on land, while submerged, and for first time swimming surface water. By capturing effect fluid forces both body leg, Spring-Loaded Inverted Pendulum (SLIP) is extended to operate in amphibious aquatic regimes. Three distinct stable motion patterns, or dog-paddle type gaits are identified when at air-water interface. The shows that, surfaces swimming, alteration leg stroke frequency length...

Locomotion through resistive media is an organic occurrence during traversal of the natural world. Due to complexities required analyze effect these on dynamics locomotion, controllers legged robots generally neglect or treat them as disturbances. In this paper, we address challenge producing optimal locomotion control in media. We do so by applying trajectory optimization techniques within a direct collocation framework onto reduced-order model locomotion: Fluid Field SLIP model. The...

Abstract Animal legs are capable of a tremendous breadth distinct dynamic behaviors. As robots pursue this same degree flexibility in their behavioral repertoire, the design power transition mechanism from joint to operational space (the leg) becomes increasingly significant given limitations current actuator technology. To address challenges designing meeting competing requirements various behaviors, paper proposes technique which prioritizes explicitly encoding set dynamics into robot’s...

Legged animals have developed a variety of modes locomotion to adapt the diverse and unknown terrain challenges posed in natural world. robots, however, been largely limited specializing one domain, with few that endeavored bridge gap between two. In this work we present Scansorial, Terrestrial, Aquatic Robot Quadruped (STARQ), novel legged robot capable bridging three different domains locomotion: walking, climbing, swimming. study describe model-based design techniques as well innovations...

In this paper we present swimming and modeling for Trident, a three-link lamprey inspired robot that is able to climb on flat smooth walls. We explore two gaits proposed work linear swimming, three turning maneuvers. compare the experimental results obtained from these experiments with different reduced order fluid interaction models, one previously published potential flow model, other slender cylinder model developed. find depending parameters of chosen, are move forward, backward sideways...

In-field legged robots need gaits and behaviors that allow them to run over through all types of terrain, including fluidic media such as ponds, bogs, sand dunes. This paper presents a method rapidly generating running gaits, on-the-fly, for these resistive fluid-like terrains. To accelerate gait computation, we adapted reduced-order dynamic model legs in fluid fields rapid optimization energy-efficient motion plans. For the first time, achieve online by formulating an optimal control...