TY - GEN
T1 - Development of A Dynamic Quadruped with Tunable, Compliant Legs
AU - Chen, Fuchen
AU - Tao, Weijia
AU - Aukes, Daniel M.
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - To facilitate the study of how passive leg stiffness influences locomotion dynamics and performance, we have developed an affordable and accessible 400 g quadruped robot driven by tunable compliant laminate legs, whose series and parallel stiffness can be easily adjusted; fabrication only takes 2.5 hours for all four legs. The robot can trot at 0.52 m/s or 4.4 body lengths per second with a 3.2 cost of transport (COT). Through locomotion experiments in both the real world and simulation we demonstrate that legs with different stiffness have an obvious impact on the robot's average speed, COT, and pronking height. When the robot is trotting at 4 Hz in the real world, changing the leg stiffness yields a maximum improvement of 37.1% in speed and 62.0% in COT, showing its great potential for future research on locomotion controller designs and leg stiffness optimizations.
AB - To facilitate the study of how passive leg stiffness influences locomotion dynamics and performance, we have developed an affordable and accessible 400 g quadruped robot driven by tunable compliant laminate legs, whose series and parallel stiffness can be easily adjusted; fabrication only takes 2.5 hours for all four legs. The robot can trot at 0.52 m/s or 4.4 body lengths per second with a 3.2 cost of transport (COT). Through locomotion experiments in both the real world and simulation we demonstrate that legs with different stiffness have an obvious impact on the robot's average speed, COT, and pronking height. When the robot is trotting at 4 Hz in the real world, changing the leg stiffness yields a maximum improvement of 37.1% in speed and 62.0% in COT, showing its great potential for future research on locomotion controller designs and leg stiffness optimizations.
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U2 - 10.1109/IROS55552.2023.10342283
DO - 10.1109/IROS55552.2023.10342283
M3 - Conference contribution
AN - SCOPUS:85182522684
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 495
EP - 502
BT - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
Y2 - 1 October 2023 through 5 October 2023
ER -