A passive dynamic quadruped that moves in a large variety of gaits

Zhenyu Gan, C. David Remy

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations

Abstract

Building on our previous work on passive dynamic walking with quadrupeds, we show that a large variety of gaits can be created completely passively by a quadrupedal model with elastic legs. Similar to the well-known Spring Loaded Inverted Pendulum model for bipeds, we created a conceptual quadrupedal model with elastic massless legs. To obtain a well-defined sequence of ground contact, we defined three distinct phases for each leg: stance, swing, and wait for touch down. Since a leg cannot make contact during swing, modifying the duration of this phase allows us to prevent feet from striking the ground prematurely. Gaits were identified in a single shooting implementation, such that the contact sequence was only influenced by the starting values of the numerical integration. By varying these values, we were able to identify trotting, pacing, walking, toelting, bounding, and galloping within a single model. For each of the identified gaits, we report the footfall pattern, ground contact forces, speed, and first order limit cycle stability.

Original languageEnglish (US)
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4876-4881
Number of pages6
ISBN (Electronic)9781479969340
DOIs
StatePublished - Oct 31 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period9/14/149/18/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Gan, Z., & Remy, C. D. (2014). A passive dynamic quadruped that moves in a large variety of gaits. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4876-4881). [6943255] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6943255