From Event: SPIE Defense + Commercial Sensing, 2023
This paper proposes an approach to design a quadruped robot with a dynamic spine using Reservoir Computing. Four bending sensors are integrated into the continuous dynamics spine to adjust spine force for balancing and enable closed-loop control of the Center of Mass (CoMs) mapping onto the dynamic surface. Passively modeling the system enabled a quadrupedal robot with a flexible spine to navigate rough terrain with improved efficiency, agility, and minimized impact on explosive power. Additionally, paper introduce to develop a novel, intelligent control mechanism for the quadrupedal robot to operate effectively on dynamic, flexible surfaces. Our approach focuses on a hierarchical distributed control mechanism developed for leg to cooperatively change centralized frames for a better functional reflection.
© (2023) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Yuqing Liu, Sanket Lokhande, and Hao Xu, "Intelligent design for quadruped robot on a dynamic flexible surface with an active spine," Proc. SPIE 12549, Unmanned Systems Technology XXV, 1254903 (Presented at SPIE Defense + Commercial Sensing: May 02, 2023; Published: 14 June 2023); https://doi.org/10.1117/12.2664154.