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Dynamic Locomotion Article Hybrid Parallel Compliance Allows Robots to Operate With Sensorimotor Delays and Low Control Frequencies Milad Shafiee Ashtiani, , Alborz Aghamaleki Sarvestani, , Badri-Spröwitz, A. Frontiers in Robotics and AI, 8(na):645748, (Editors: Dai Owaki, Tohoku University, Japan), June 2021 (Published)
Animals locomote robustly and agile, albeit significant sensorimotor delays of their nervous system and the harsh loading conditions resulting from repeated, high-frequent impacts. The engineered sensorimotor control in legged robots is implemented with high control frequencies, often in the kilohertz range. Consequently, robot sensors and actuators can be polled within a few milliseconds. However, especially at harsh impacts with unknown touch-down timing, controllers of legged robots can become unstable, while animals are seemingly not affected. We examine this discrepancy and suggest and implement a hybrid system consisting of a parallel compliant leg joint with varying amounts of passive stiffness and a virtual leg length controller. We present systematic experiments both in computer simulation and robot hardware. Our system shows previously unseen robustness, in the presence of sensorimotor delays up to 60 ms, or control frequencies as low as 20 Hz, for a drop landing task from 1.3 leg lengths high and with a compliance ratio (fraction of physical stiffness of the sum of virtual and physical stiffness) of 0.7. In computer simulations, we report successful drop-landings from 3.8 leg lengths (1.2 m) for a 2 kg quadruped robot with 100 Hz control frequency and a sensorimotor delay of 35 ms.
CAD spring-mount DOI URL BibTeX
Dynamic Locomotion Ph.D. Thesis Control Mechanisms for Postural Stability and Trunk Motion in Bipedal Running. A Numerical Study for Humans, Avians, and Bipedal Robots Drama, Ö. Universität Stuttgart, Stuttgart, May 2021 DOI BibTeX
Dynamic Locomotion Intelligent Control Systems Conference Paper A little damping goes a long way Heim, S., Millard, M., Mouel, C. L., Badri-Spröwitz, A. In Integrative and Comparative Biology, 61(Supplement 1):E367-E367, Oxford University Press, Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2021) , March 2021 (Published) DOI URL BibTeX
Dynamic Locomotion Conference Paper Viscous damping in legged locomotion Mo, A., Izzi, F., Haeufle, D. F. B., Badri-Spröwitz, A. In Integrative and Comparative Biology, 61(Supplement 1):E1203-E1204, Oxford University Press, Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2021), March 2021 DOI URL BibTeX
Dynamic Locomotion Conference Paper Associating functional morphology of the lumbosacral organ and locomotion modalities in avians Kamska, V., Contreras, F. B., Daley, M., Badri-Spröwitz, A. In Integrative and Comparative Biology, 61(Supplement 1):E437-E437, Oxford University Press, Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2021), January 2021 DOI URL BibTeX
Dynamic Locomotion Conference Paper Developing a mechanical model for intraspinal mechanosensing in avians Mo, A., Kamska, V., Contreras, F. B., Daley, M., Badri-Spröwitz, A. In Integrative and Comparative Biology , 61(Supplement 1):E618-E619, Oxford University Press, Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2021), January 2021 DOI URL BibTeX
Dynamic Locomotion Conference Paper Effects of tendon-network mechanisms on avian terrestrial locomotion Contreras, F. B., Daley, M., Badri-Spröwitz, A. In Integrative and Comparative Biology, 61(Supplement 1):E89-E90, Oxford University Press, Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2021), January 2021 DOI URL BibTeX
Dynamic Locomotion Conference Paper Tackling sensorimotor delays and low control update frequencies during drop impacts with hybrid parallel leg compliance Ashtiani, M. S., Sarvestani, A. A., Badri-Spröwitz, A. The 9.5th international symposium on Adaptive Motion of Animals and Machines. Ottawa，Canada (Virtual Platform). 2021-06-22/25. Adaptive Motion of Animals and Machines Organizing Committee., 3, Adaptive Motion of Animals and Machines Organizing Committee, Adaptive Motion of Animals and Machines, 2021 (Published) AMAM2021 DOI BibTeX