NDLI: Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs

Content Provider	PubMed Central
Author	Spröwitz, Alexander T. Mostafa, Ajallooeian Tuleu, Alexandre Jan, Ijspeert Auke
Copyright Year	2014
Abstract	In this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were implemented in a modular, feed-forward locomotion controller. The controller was tested on a small, quadruped robot with compliant, segmented leg design, and led to self-stable and self-stabilizing robot locomotion. In-air stepping and on-ground locomotion leg kinematics were recorded, and the number and shapes of motion primitives accounting for 95% of the variance of kinematic leg data were extracted. This revealed that kinematic patterns resulting from feed-forward control had a lower complexity (in-air stepping, 2–3 primitives) than kinematic patterns from on-ground locomotion (νm4 primitives), although both experiments applied identical motor patterns. The complexity of on-ground kinematic patterns had increased, through ground contact and mechanical entrainment. The complexity of observed kinematic on-ground data matches those reported from level-ground locomotion data of legged animals. Results indicate that a very low complexity of modular, rhythmic, feed-forward motor control is sufficient for level-ground locomotion in combination with passive compliant legged hardware.
Related Links	http://dx.doi.org/10.3389/fncom.2014.00027
Starting Page	27
File Format	PDF
ISSN	16625188
e-ISSN	16625188
Journal	Frontiers in Computational Neuroscience
Volume Number	8
Language	English
Publisher	Frontiers Media S.A.
Publisher Date	2014-03-01
Access Restriction	Open
Rights Holder	Frontiers Media S.A.
Subject Keyword	Cellular and Molecular Neuroscience Neuroscience (miscellaneous) Research in Higher Education
Content Type	Text
Resource Type	Article
Subject	Cellular and Molecular Neuroscience

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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