Intelligent design for quadruped robot on a dynamic flexible surface with an active spine

Yuqing Liu; Sanket Lokhande; Hao Xu

doi:10.1117/12.2664154

14 June 2023 Intelligent design for quadruped robot on a dynamic flexible surface with an active spine

Yuqing Liu, Sanket Lokhande, Hao Xu

Proceedings Volume 12549, Unmanned Systems Technology XXV; 1254903 (2023) https://doi.org/10.1117/12.2664154
Event: SPIE Defense + Commercial Sensing, 2023, Orlando, Florida, United States

Abstract

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.

Conference Presentation

Citation Download Citation

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 (14 June 2023); https://doi.org/10.1117/12.2664154

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