Modeling and Trajectory Optimization for Standing Long Jumping of a Quadruped with A Preloaded Elastic Prismatic Spine

This paper presents a novel methodology to model and optimize trajectories of a quadrupedal robot with spinal compliance to improve standing jump performance compared to quadrupeds with a rigid spine. We introduce an elastic model for a prismatic robotic spine that is actively preloaded and mechanic...

Full description

Saved in:
Bibliographic Details
Published inarXiv.org
Main Authors Ye, Keran, Karydis, Konstantinos
Format Paper
LanguageEnglish
Published Ithaca Cornell University Library, arXiv.org 01.09.2021
Subjects
Mathematical models
Modulus of elasticity
Optimization
Parameter identification
Trajectory optimization
Online AccessGet full text

Cover

More Information
Summary:This paper presents a novel methodology to model and optimize trajectories of a quadrupedal robot with spinal compliance to improve standing jump performance compared to quadrupeds with a rigid spine. We introduce an elastic model for a prismatic robotic spine that is actively preloaded and mechanically lock-enabled at initial and maximum length, and develop a constrained trajectory optimization method to co-optimize the elastic parameters and motion trajectories toward enhanced jumping distance. Results reveal that a less stiff spring is likely to facilitate jumping performance not as a direct propelling source but as a means to unleash more motor power for propelling by trading-off overall energy efficiency. We also visualize the impact of spring coefficients on the overall optimization routine from energetic perspectives to identify the suitable parameter region.
ISSN:2331-8422