Event
Paper proposes framework for generating multi-gait in quadrupeds using nonlinear resonance
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Annika Schmidt et al. published a paper on arXiv proposing a proof-of-concept framework that incorporates the robot's nonlinear dynamics into the design process, allowing multi-gait locomotion to emerge from nonlinear resonance shaped by gravity, inertia, and elasticity. The authors introduce a highly compliant quadruped robot, eBert, use new theoretical tools to identify six nonlinear normal modes (NNMs), and verify their existence in simulation and on hardware. After determining step length via black-box optimization, simulations show that each NNM naturally develops into a different gait, exhibiting different speeds, with most transferable to the physical hardware.
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- arXiv paper explores using nonlinear body oscillations to generate natural quadruped gaits
The paper proposes a proof-of-concept framework that incorporates a robot's nonlinear dynamics into the design process, enabling multi-gait locomotion to emerge from nonlinear resonances shaped by gravity, inertia, and elasticity. The authors introduce the highly compliant quadruped robot eBert, use new theoretical tools to identify six nonlinear normal modes (NNMs), and validate their existence in simulation and hardware. Using black-box optimization to determine step length, simulations show that each NNM naturally develops into a distinct gait with different speeds, and most of these largely transfer to the physical hardware.
arXiv cs.RO ·