Energy efficiency of quadruped gaits

This paper studies periodic gaits of quadruped locomotion systems. The purpose is to determine the best set of gait and locomotion variables during walking, for different robot velocities, based on two formulated performance measures. A set of experiments reveals the influence of the gait and locomotion variables upon the proposed indices, namely that the gait and the locomotion parameters should be adapted to the robot forward velocity.

Quasi-periodic Gaits in Multi-legged Robots

5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines

Locomotion and gaits of the northern brown bandicoot, Isoodon macrourus (Marsupalia: Peramelidae)

Gait repertoires of the northern brown bandicoot, Isoodon macrourus, were studied over a wide range of locomotor speeds. At low relative speeds, bandicoots used symmetrical gaits that included pacing, trotting, and lateral sequence strides. Forefoot contact duration was generally shorter than hind foot contact duration at all speeds. At moderate relative speeds bandicoots used half-bounding gaits with either no period of suspension or with a short gathered suspension. At high speeds the predominant gait had both a short extended and a short gathered suspension, although some strides comprised only an extended suspension. Increases in speed were accompanied by increases in spinal extension, presumably leading to the extended suspensions. On a stationary treadmill individuals occasionally used a bipedal gait. Maximum half-bounding speeds appear to be relatively low in this species.

Haptic information stabilizes and destabilizes coordination dynamics

Goal-directed, coordinated movements in humans emerge from a variety of constraints that range from 'high-level' cognitive strategies based oil perception of the task to 'low-level' neuromuscular-skeletal factors such as differential contributions to coordination from flexor and extensor muscles. There has been a tendency in the literature to dichotomize these sources of constraint, favouring one or the other rather than recognizing and understanding their mutual interplay. In this experiment, subjects were required to coordinate rhythmic flexion and extension movements with an auditory metronome, the rate of which was systematically increased. When subjects started in extension on the beat of the metronome, there was a small tendency to switch to flexion at higher rates, but not vice versa. When subjects: were asked to contact a physical stop, the location of which was either coincident with or counterphase to the auditor) stimulus, two effects occurred. When haptic contact was coincident with sound, coordination was stabilized for both flexion and extension. When haptic contact was counterphase to the metronome, coordination was actually destabilized, with transitions occurring from both extension to flexion on the beat and from flexion to extension on the beat. These results reveal the complementary nature of strategic and neuromuscular factors in sensorimotor coordination. They also suggest the presence of a multimodal neural integration process-which is parametrizable by rate and context - in which intentional movement, touch and sound are bound into a single, coherent unit.

Let your feet do the walking: constraints on the stability of bipedal coordination

In this paper we consider whether the behaviour of the neural circuitry that controls lower limb movements in humans is shaped primarily by the spatiotemporal characteristics of bipedal gait patterns, or by selective pressures that are sensitive to considerations of balance and energetics. During the course of normal locomotion, the full dynamics of the neural circuitry are masked by the inertial properties of the limbs. In the present study, participants executed bipedal movements in conditions in which their feet were either unloaded or subject to additional inertial loads. Two patterns of rhythmic coordination were examined. In the in-phase mode, participants were required to flex their ankles and extend their ankles in synchrony. In the out-of-phase mode, the participants flexed one ankle while extending the other and vice versa. The frequency of movement was increased systematically throughout each experimental trial. All participants were able to maintain both the in-phase and the out-of-phase mode of coordination, to the point at which they could no longer increase their frequency of movement. Transitions between the two modes were not observed, and the stability of the out-of-phase and in-phase modes of coordination was equivalent at all movement frequencies. These findings indicate that, in humans, the behaviour of the neural circuitry underlying coordinated movements of the lower limbs is not constrained strongly by the spatiotemporal symmetries of bipedal gait patterns.

Optimização dos parâmetros de um robô hexápode através de algoritmos genéticos

Mestrado em Engenharia Electrotécnica e de Computadores

Robôs quadrúpedes: geração de trajectórias em tempo real usando sistemas dinâmicos não-lineares

A geração de trajectórias de robôs em tempo real é uma tarefa muito complexa, não existindo ainda um algoritmo que a permita resolver de forma eficaz. De facto, há controladores eficientes para trajectórias previamente definidas, todavia, a adaptação a variações imprevisíveis, como sendo terrenos irregulares ou obstáculos, constitui ainda um problema em aberto na geração de trajectórias em tempo real de robôs. Neste trabalho apresentam-se modelos de geradores centrais de padrões de locomoção (CPGs), inspirados na biologia, que geram os ritmos locomotores num robô quadrúpede. Os CPGs são modelados matematicamente por sistemas acoplados de células (ou neurónios), sendo a dinâmica de cada célula dada por um sistema de equações diferenciais ordinárias não lineares. Assume-se que as trajectórias dos robôs são constituídas por esta parte rítmica e por uma parte discreta. A parte discreta pode ser embebida na parte rítmica, (a.1) como um offset ou (a.2) adicionada às expressões rítmicas, ou (b) pode ser calculada independentemente e adicionada exactamente antes do envio dos sinais para as articulações do robô. A parte discreta permite inserir no passo locomotor uma perturbação, que poderá estar associada à locomoção em terrenos irregulares ou à existência de obstáculos na trajectória do robô. Para se proceder á análise do sistema com parte discreta, será variado o parâmetro g. O parâmetro g, presente nas equações da parte discreta, representa o offset do sinal após a inclusão da parte discreta. Revê-se a teoria de bifurcação e simetria que permite a classificação das soluções periódicas produzidas pelos modelos de CPGs com passos locomotores quadrúpedes. Nas simulações numéricas, usam-se as equações de Morris-Lecar e o oscilador de Hopf como modelos da dinâmica interna de cada célula para a parte rítmica. A parte discreta é modelada por um sistema inspirado no modelo VITE. Medem-se a amplitude e a frequência de dois passos locomotores para variação do parâmetro g, no intervalo [-5;5]. Consideram-se duas formas distintas de incluir a parte discreta na parte rítmica: (a) como um (a.1) offset ou (a.2) somada nas expressões que modelam a parte rítmica, e (b) somada ao sinal da parte rítmica antes de ser enviado às articulações do robô. No caso (a.1), considerando o oscilador de Hopf como dinâmica interna das células, verifica-se que a amplitude e frequência se mantêm constantes para -50.2. A extensão do movimento varia de forma directamente proporcional à amplitude. No caso das equações de Morris-Lecar, quando a componente discreta é embebida (a.2), a amplitude e a frequência aumentam e depois diminuem para - 0.170.5 Pode concluir-se que: (1) a melhor forma de inserção da parte discreta que menos perturbação insere no robô é a inserção como offset; (2) a inserção da parte discreta parece ser independente do sistema de equações diferenciais ordinárias que modelam a dinâmica interna de cada célula. Como trabalho futuro, é importante prosseguir o estudo das diferentes formas de inserção da parte discreta na parte rítmica do movimento, para que se possa gerar uma locomoção quadrúpede, robusta, flexível, com objectivos, em terrenos irregulares, modelada por correcções discretas aos padrões rítmicos.

A literature review on the optimization of legged robots

Over the last two decades the research and development of legged locomotion robots has grown steadily. Legged systems present major advantages when compared with ‘traditional’ vehicles, because they allow locomotion in inaccessible terrain to vehicles with wheels and tracks. However, the robustness of legged robots, and especially their energy consumption, among other aspects, still lag behind mechanisms that use wheels and tracks. Therefore, in the present state of development, there are several aspects that need to be improved and optimized. Keeping these ideas in mind, this paper presents the review of the literature of different methods adopted for the optimization of the structure and locomotion gaits of walking robots. Among the distinct possible strategies often used for these tasks are referred approaches such as the mimicking of biological animals, the use of evolutionary schemes to find the optimal parameters and structures, the adoption of sound mechanical design rules, and the optimization of power-based indexes.

Desenvolvimento de um robô com pernas inspirado no Alfaiate

A elaboração deste trabalho surge no âmbito da unidade curricular de Tese/Dissertação, integrada no Mestrado em Engenharia Eletrotécnica e de Computadores do Instituto Superior de Engenharia do Porto. O trabalho enquadra-se no âmbito da robótica de inspiração biológica, mais concretamente no desenvolvimento de um robô que apresente caraterísticas de locomoção similares ao inseto Alfaiate, modificando para este efeito um robô hexápode já existente. Inicialmente efetuou-se um estudo sobre a biologia do Alfaiate e dos vários tipos de padrões de locomoção adotados pelos animais. De seguida foi realizado um estudo sobre alguns robôs já existentes inspirados neste inseto. Após a realização desta fase de estudo, foram implementadas modificações ao robô hexápode, de forma a este conseguir apoiar-se e movimentar-se sobre a superfície da água. Para tal foram utilizados apoios em esferovite para as pernas, servomotores para a atuação e um sensor de IRPD para orientar o robô na sua trajetória. Em termos de controlo da estabilidade do corpo utilizou-se um giroscópio para permitir ao robô manter o seu corpo horizontal durante a locomoção em águas agitadas. Este trabalho termina com a realização de testes a diferentes padrões de locomoção, de forma a validar o que apresenta a melhor resposta em termos de velocidade.

Gait Selection for Quadruped Legged Robots

This paper studies periodic gaits of quadruped locomotion systems. The purpose is to determine the best set of gait and locomotion variables for different robot velocities based on the system dynamics during walking. In this perspective, several performance measures are formulated and a set of experiments reveals the influence of the gait and locomotion variables upon those proposed indices. The results show that the locomotion parameters (β, LS and HB) should be adapted to the walking velocity in order to optimize the robot performance. Furthermore, for the case of a quadruped robot, we concluded that the gait should be adapted to VF .

Gait Analysis of Natural and Artificial Walking Systems

This paper studies periodic gaits of multi-legged locomotion systems based on dynamic models. The purpose is to determine the system performance during walking and the best set of locomotion variables. For that objective the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, foot clearance, legs link lengths, foot-hip offset, body and legs mass and cycle time. In this perspective, we formulate three performance measures of the walking robot namely, the mean absolute energy, the mean power dispersion and the mean power lost in the joint actuators per walking distance. A set of model-based experiments reveals the influence of the locomotion variables in the proposed indices.

Energy analysis of Multi-legged Locomotion Systems

4th International Conference on Climbing and Walking Robots - From Biology to Industrial Applications

Symmetry and order parameter dynamics of the human odometer

Bipedal gaits have been classified on the basis of the group symmetry of the minimal network of identical differential equations (alias cells) required to model them. Primary bipedal gaits (e.g., walk, run) are characterized by dihedral symmetry, whereas secondary bipedal gaits (e.g., gallop-walk, gallop- run) are characterized by a lower, cyclic symmetry. This fact has been used in tests of human odometry (e.g., Turvey et al. in P Roy Soc Lond B Biol 276:4309–4314, 2009, J Exp Psychol Hum Percept Perform 38:1014–1025, 2012). Results suggest that when distance is measured and reported by gaits from the same symmetry class, primary and secondary gaits are comparable. Switching symmetry classes at report compresses (primary to secondary) or inflates (secondary to primary) measured distance, with the compression and inflation equal in magnitude. The present research (a) extends these findings from overground locomotion to treadmill locomotion and (b) assesses a dynamics of sequentially coupled measure and report phases, with relative velocity as an order parameter, or equilibrium state, and difference in symmetry class as an imperfection parameter, or detuning, of those dynamics. The results suggest that the symmetries and dynamics of distance measurement by the human odometer are the same whether the odometer is in motion relative to a stationary ground or stationary relative to a moving ground.

Ratsastussimulaattorin jatkokehitys

Työssä tehtiin jatkokehitystyötä jo olemassa olevaan ratsastussimulaattoriin. Kehitystyö aloitettiin selvittämällä ratsastuksen liiketila, mittaamalla ratsastukseen aikana ratsastajaan kohdistuvat dynaamiset suureet 6 vapausasteen suhteen. Mitatut signaalit käsiteltiin transformaation ja suodatuksen avulla. Käsiteltyjä signaaleja käytettiin simulaattorin liikealustan asemaohjesignaaleina. Liikealustaan päälle kiinnitettyyn hevosenrunkoon muodostettiin antureiden avulla interaktiivinen rajapinta, joka mahdollisti simulaattorin ohjastamisen pohje- ja ohja-avuin. Jatkokehitetty simulaattori toistaa käynti-, ravi- ja laukka-askellajit tunnistettavasti. Simulaattori kuvaa ratsastuksen nopeuden muutosta vaihtamalla askellajia ja muuntamalla portaattomasti askelluksen taajuutta sekä amplitudia.

Video-based analysis of Gait pathologies

L’analyse de la marche a émergé comme l’un des domaines médicaux le plus im- portants récemment. Les systèmes à base de marqueurs sont les méthodes les plus fa- vorisées par l’évaluation du mouvement humain et l’analyse de la marche, cependant, ces systèmes nécessitent des équipements et de l’expertise spécifiques et sont lourds, coûteux et difficiles à utiliser. De nombreuses approches récentes basées sur la vision par ordinateur ont été développées pour réduire le coût des systèmes de capture de mou- vement tout en assurant un résultat de haute précision. Dans cette thèse, nous présentons notre nouveau système d’analyse de la démarche à faible coût, qui est composé de deux caméras vidéo monoculaire placées sur le côté gauche et droit d’un tapis roulant. Chaque modèle 2D de la moitié du squelette humain est reconstruit à partir de chaque vue sur la base de la segmentation dynamique de la couleur, l’analyse de la marche est alors effectuée sur ces deux modèles. La validation avec l’état de l’art basée sur la vision du système de capture de mouvement (en utilisant le Microsoft Kinect) et la réalité du ter- rain (avec des marqueurs) a été faite pour démontrer la robustesse et l’efficacité de notre système. L’erreur moyenne de l’estimation du modèle de squelette humain par rapport à la réalité du terrain entre notre méthode vs Kinect est très prometteur: les joints des angles de cuisses (6,29◦ contre 9,68◦), jambes (7,68◦ contre 11,47◦), pieds (6,14◦ contre 13,63◦), la longueur de la foulée (6.14cm rapport de 13.63cm) sont meilleurs et plus stables que ceux de la Kinect, alors que le système peut maintenir une précision assez proche de la Kinect pour les bras (7,29◦ contre 6,12◦), les bras inférieurs (8,33◦ contre 8,04◦), et le torse (8,69◦contre 6,47◦). Basé sur le modèle de squelette obtenu par chaque méthode, nous avons réalisé une étude de symétrie sur différentes articulations (coude, genou et cheville) en utilisant chaque méthode sur trois sujets différents pour voir quelle méthode permet de distinguer plus efficacement la caractéristique symétrie / asymétrie de la marche. Dans notre test, notre système a un angle de genou au maximum de 8,97◦ et 13,86◦ pour des promenades normale et asymétrique respectivement, tandis que la Kinect a donné 10,58◦et 11,94◦. Par rapport à la réalité de terrain, 7,64◦et 14,34◦, notre système a montré une plus grande précision et pouvoir discriminant entre les deux cas.