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Quadruped Robots Benefit from Compliant Leg Designs

Brecht Willems UGent, Jonas Degrave UGent, Joni Dambre UGent and Francis wyffels UGent (2017)
abstract
A major bottleneck in building autonomous robots is the lack of suitable power supplies. Consequently, researchers aim for more energy-efficient locomotion. One way to achieve this is by using compliant materials in the robot bodies. In this work, we introduce Tigrillo, a small, low-cost quadruped robot platform with modular legs. The robot’s legs consist of a simple two-segmented construction which can be configured stiff or passive compliant. Each leg is actuated at the hip with one motor. By thorough optimization of the open loop control signals we demonstrate that compliance not only results in gaits that are more insensitive to parameter variations, but also leads to more energy-efficient gaits.
Please use this url to cite or link to this publication:
author
organization
year
type
conference (poster)
publication status
published
subject
keyword
quadruped robot, compliant, underactuation, energy efficiency
publisher
IEEE
place of publication
Ghent
conference name
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)
conference location
Vancouver
conference start
2017-09-24
conference end
2017-09-28
ISBN
978-1-5386-2681-8
language
English
UGent publication?
yes
classification
C3
id
8533863
handle
http://hdl.handle.net/1854/LU-8533863
date created
2017-10-11 15:09:25
date last changed
2017-10-13 12:51:02
@inproceedings{8533863,
  abstract     = {A major bottleneck in building autonomous robots is the lack of suitable power supplies. Consequently, researchers
aim for more energy-efficient locomotion. One way to achieve this is by using compliant materials in the robot bodies. In
this work, we introduce Tigrillo, a small, low-cost quadruped robot platform with modular legs. The robot{\textquoteright}s legs consist of
a simple two-segmented construction which can be configured stiff or passive compliant. Each leg is actuated at the hip with one motor. By thorough optimization of the open loop control signals we demonstrate that compliance not only results in gaits that are more insensitive to parameter variations, but also leads to more energy-efficient gaits.},
  author       = {Willems, Brecht and Degrave, Jonas and Dambre, Joni and wyffels, Francis},
  isbn         = {978-1-5386-2681-8},
  keyword      = {quadruped robot,compliant,underactuation,energy efficiency},
  language     = {eng},
  location     = {Vancouver},
  publisher    = {IEEE},
  title        = {Quadruped Robots Benefit from Compliant Leg Designs},
  year         = {2017},
}

Chicago
Willems, Brecht, Jonas Degrave, Joni Dambre, and Francis wyffels. 2017. “Quadruped Robots Benefit from Compliant Leg Designs.” In Ghent: IEEE.
APA
Willems, Brecht, Degrave, J., Dambre, J., & wyffels, F. (2017). Quadruped Robots Benefit from Compliant Leg Designs. Presented at the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Ghent: IEEE.
Vancouver
1.
Willems B, Degrave J, Dambre J, wyffels F. Quadruped Robots Benefit from Compliant Leg Designs. Ghent: IEEE; 2017.
MLA
Willems, Brecht, Jonas Degrave, Joni Dambre, et al. “Quadruped Robots Benefit from Compliant Leg Designs.” Ghent: IEEE, 2017. Print.