Modeling and Trajectory Optimization for Standing Long Jumping of a Quadruped with A Preloaded Elastic Prismatic Spine

09/01/2021
by   Keran Ye, et al.
0

This paper presents a novel methodology to model and optimize trajectories of a quadrupedal robot with spinal compliance to improve standing jump performance compared to quadrupeds with a rigid spine. We introduce an elastic model for a prismatic robotic spine that is actively preloaded and mechanically lock-enabled at initial and maximum length, and develop a constrained trajectory optimization method to co-optimize the elastic parameters and motion trajectories toward enhanced jumping distance. Results reveal that a less stiff spring is likely to facilitate jumping performance not as a direct propelling source but as a means to unleash more motor power for propelling by trading-off overall energy efficiency. We also visualize the impact of spring coefficients on the overall optimization routine from energetic perspectives to identify the suitable parameter region.

READ FULL TEXT

page 1

page 2

page 3

page 4

research
02/27/2018

Exploiting the Natural Dynamics of Series Elastic Robots by Actuator-Centered Sequential Linear Programming

Series elastic robots are best able to follow trajectories which obey th...
research
01/09/2023

Learning-based Design and Control for Quadrupedal Robots with Parallel-Elastic Actuators

Parallel-elastic joints can improve the efficiency and strength of robot...
research
06/08/2023

Movement Optimization of Robotic Arms for Energy and Time Reduction using Evolutionary Algorithms

Trajectory optimization of a robot manipulator consists of both optimiza...
research
04/12/2023

Human-Robot Skill Transfer with Enhanced Compliance via Dynamic Movement Primitives

Finding an efficient way to adapt robot trajectory is a priority to impr...
research
06/25/2020

Optimal Trajectory Planning for Flexible Robots with Large Deformation

Robot arms with lighter weight can reduce unnecessary energy consumption...
research
11/13/2018

Minimizing Energy Consumption and Peak Power of Series Elastic Actuators: a Convex Optimization Framework for Elastic Element Design

Series elastic actuators (SEAs) support the development of energy-effici...
research
09/05/2023

Task Generalization with Stability Guarantees via Elastic Dynamical System Motion Policies

Dynamical System (DS) based Learning from Demonstration (LfD) allows lea...

Please sign up or login with your details

Forgot password? Click here to reset