IEEE - Institute of Electrical and Electronics Engineers, Inc. - Do Intermediate Gaits Matter When Rapidly Accelerating?
|Author(s):||Callen Fisher ; Christian Hubicki ; Amir Patel|
|Publisher:||IEEE - Institute of Electrical and Electronics Engineers, Inc.|
Transient locomotion is still poorly understood in terms of planning and implementation on robotic platforms. Most research has concentrated on steady-state motion. Here, we investigate optimal... View More
Transient locomotion is still poorly understood in terms of planning and implementation on robotic platforms. Most research has concentrated on steady-state motion. Here, we investigate optimal rapid acceleration (positive and negative) maneuvers of a planar numerical quadruped and biped robot. The question we ask is whether legged robots should transition through discrete, intermediate gaits (walking to trot to bound) or plan a direct transition to the top-speed gait. We present numerical evidence supporting the energetic optimality of transitioning to a desired gait without intermediate gait transitions. Trajectories were generated from rest to steadystate and vice versa. Two cost functions (cost of transport, CoT, and a heat based cost function) were analyzed and compared to observations made in nature. A full 30 m trajectory was generated and compared to the acceleration and deceleration results, which further supported transitioning directly to the desired gait. All the trajectories were observed to follow a sliding mass template model which, in future, can be used as a heuristic to plan these transient maneuvers.View Less