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Having a well-rounded fixed leg design for a quadruped inevitably limits performance across diverse tasks, while tunability enables specialization and leads to better performance. This paper introduces a sub-500-gram quadruped robot with a rich leg design space. Made with laminate design and fabrication techniques, its legs have a range of tunable design parameters, including leg length, transmission ratio, and passive parallel and series stiffness. The legs are also straightforward to model, low-cost, and fast to manufacture. We propose methods to span the leg’s feasible design space and construct simulation environments for training a locomotion policy with reinforcement learning to remove the need for manual controller design and tuning. This policy not only works across leg designs but also exploits the unique dynamics of each leg for better locomotion. A curation process is employed to select designs given performance goals, which is more interpretable than optimization and provides insights for design improvements and discoveries of design principles. Thanks to the tight integration of design, fabrication, simulation, and control, our proposed pipeline produces leg designs with performance that aligns with the simulation, while the learned locomotion policy can be used successfully on the real robot. The fast longitudinal running design reaches a maximum speed of 0.7 m/s or 5.4 body lengths per second, and the low cost of transport (COT) design has a COT of 0.3.
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Feedback Control of the Locomotion of a Tailed Quadruped Robot
The traditional locomotion paradigm of quadruped robots is to use dexterous (multi degrees of freedom) legs and dynamically optimized footholds to balance the body and achieve stable locomotion. With the introduction of a robotic tail, a new locomotion paradigm becomes possible as the balancing is achieved by the tail and the legs are only responsible for propulsion. Since the burden on the leg is reduced, leg complexity can be also reduced. This paper explores this new paradigm by tackling the dynamic locomotion control problem of a reduced complexity quadruped (RCQ) with a pendulum tail. For this specific control task, a new control strategy is proposed in a manner that the legs are planned to execute the open-loop gait motion in advance, while the tail is controlled in a closed-loop to prepare the quadruped body in the desired orientation. With these two parts working cooperatively, the quadruped achieves dynamic locomotion. Partial feedback linearization (PFL) controller is used for the closed-loop tail control. Pronking, bounding, and maneuvering are tested to evaluate the controller’s performance. The results validate the proposed controller and demonstrate the feasibility and potential of the new locomotion paradigm.
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- Award ID(s):
- 1906727
- PAR ID:
- 10326665
- Date Published:
- Journal Name:
- ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 45TH MECHANISMS AND ROBOTICS CONFERENCE (MR)
- Volume:
- Volume 8B
- Issue:
- V08BT08A009
- Page Range / eLocation ID:
- 1-8
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1115/DETC2021-71611
