Humphreys, J. orcid.org/0000-0001-5759-2092, Li, J., Wan, Y. et al. (2 more authors) (Cover date: October 2023) Bio-inspired Gait Transitions for Quadruped Locomotion. IEEE Robotics and Automation Letters, 8 (10). pp. 6131-6138. ISSN 2377-3766
Abstract
Developing gaits inspired by animal locomotion for quadruped robots has become a prevalent approach in achieving dynamic locomotion. Analogous to animal gaits, they exhibit optimal effectiveness at specific velocities, necessitating the transitions between them for enhanced locomotion proficiency. Despite the significance of these transitions, methods for achieving them have received comparatively limited attention. For successful gait transitions, stability and suitable velocities are essential to maintain efficiency. In this study, a bio-inspired gait transition method has been devised, capitalising on the Froude number-a parameter characterising the velocity at which different-sized quadrupeds alter their gaits. By formulating a set of governing equations contingent on the Froude number, stable gait transitions can be generated. A series of simulations were conducted to determine the optimal Froude number ranges for various gaits and to validate the generality of this method by applying it to four distinct quadrupeds. To assess the performance of the gait transitions, a series of hardware experiments were executed, demonstrating a variety of gait transitions, comparing the proposed transition method with existing alternatives and testing its generality.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | This is an author produced version of an article accepted for publication in IEEE Robotics and Automation Letters, made available under the terms of the Creative Commons Attribution License (CC-BY), which permits unrestricted use, distribution and reproduction in any medium, provided the original work is properly cited. |
Keywords: | Legged robots, biologically-inspired robots, humanoid and bipedal locomotion. |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 25 Jul 2023 15:01 |
Last Modified: | 20 Sep 2023 10:20 |
Published Version: | https://ieeexplore.ieee.org/document/10197505 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers |
Identification Number: | 10.1109/LRA.2023.3300249 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:201823 |