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Computer Science > Robotics

arXiv:2109.00149 (cs)
[Submitted on 1 Sep 2021]

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

Authors:Keran Ye, Konstantinos Karydis
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Abstract: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.
Comments: 7 pages, 5 figures
Subjects: Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2109.00149 [cs.RO]
  (or arXiv:2109.00149v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2109.00149

Submission history

From: Keran Ye [view email]
[v1] Wed, 1 Sep 2021 01:50:10 UTC (2,094 KB)
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