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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)
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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.
Keywords
quadruped robot, compliant, underactuation, energy efficiency

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Citation

Please use this url to cite or link to this publication:

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.
@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},
}