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We report on the methodology of developing a hybrid model and utilizing it as a template to initiate running behavior in a legged robot. The hybrid model is comprised of a physics-based, rolling, spring-loaded, inverted pendulum (R-SLIP) model, and a data-driven model that compensates for unmodeled dynamics using Gaussian process (GP) regression. The hybrid R-SLIP-GP model retains the R-SLIP's intrinsic running dynamics, as well as improves the template's accuracy without intensive data training and iteration efforts. The proposed hybrid model was evaluated via simulation and in empirical robot running experiments. The results confirm that the added GP-based model greatly improved the model's accuracy, especially discrepancies resulting from the originally difficult-to-model complex leg-ground interactions. In addition, the R-SLIP-GP model was utilized as a complete motion template to design and control the robot's running motion. The experimental results demonstrate that the hybrid template can initiate more stable and power-efficient running motion in the robot than using the R-SLIP template. [ABSTRACT FROM AUTHOR]

In this paper, we report on the development of the clock-torqued rolling spring loaded inverted pendulum (CTR-SLIP) model. The new model, which adds clock-based torque control on the leg orientation of the previously developed R-SLIP model, has two advantages: first, regulating the model to follow its passive dynamic running (i.e., at a fixed point) significantly increases the model's basin of attraction; and second, formulating the model closer to the empirical robot enables the model to serve as the transient and steady-state running template of the robot as the anchor. These features enable the model/robot to perform speed transition from one fixed point profile to another, and the experimental validation confirms that the robot can successfully transition between two running speeds bidirectionally. The achievement of variable-speed running by the proposed method has a unique merit—it is purely model-based, and there is no need for further tuning, optimization, or learning processes. Regarding the robot, the proposed strategy only requires it to have simple position control to regulate its leg orientations, and there is no need for other sensory modules to provide information for feedback. [ABSTRACT FROM AUTHOR]

This paper describes the inspiration for, design, analysis, and implementation of, and experimentation with the first dynamical vertical climbing robot. Biologists have proposed a pendulous climbing model that abstracts remarkable similarities in dynamical wall scaling behavior exhibited by radically different animal species. We numerically study a version of that pendulous climbing template dynamically scaled for applicability to utilitarian payloads with conventional electronics and actuation. This simulation study reveals that the incorporation of passive compliance can compensate for the scaled model’s poorer power density and scale disadvantages relative to biology. However, the introduction of additional dynamical elements raises new concerns about stability regarding both the power stroke and limb coordination schemes that we allay via mathematical analysis of further simplified models. Combining these numerical and analytical insights into a series of design prototypes, we document the correspondence of the various models to the scaled platforms and report that our final prototype climbs dynamically at vertical speeds up to 0.67 m/s (1.5 body-lengths per second, in rough agreement with our models’ predictions). [ABSTRACT FROM PUBLISHER]

This report is on the design, control strategy, implementation, and performance evaluation of a novel leg–wheel transformable robot called TurboQuad, which can perform fast gait/mode coordination and transitions in wheeled mode, in legged trotting, and in legged walking while in motion. This functionality was achieved by including two novel setups in the robot that were not included in its predecessor, Quattroped. First, a new leg–wheel mechanism was used, in which the leg/wheel operation and its in situ transition can be driven by the same set of motors, so the actuation system and power can be utilized efficiently. Second, a bio-inspired control strategy was applied based on the central pattern generator and coupled oscillator networks, in which the gait/mode generation, coordination, and transitions can be integrally controlled. The robot was empirically built and its performances in the described three gaits/modes as well as the transitions among them were experimentally evaluated and will be discussed in this paper. [ABSTRACT FROM AUTHOR]

We report on the model-based development of leaping behavior in a RHex-style hexapod robot. A three-legged model is proposed to analyze the dynamic behavior of leaping, and this serves as a guide for implementing the behavior on the empirical robot. The model has a rigid body and three massless and compliant legs, which have rolling contact with the ground for better modeling the leg behavior of the empirical robot. By investigating the model's behavior, a two-step leaping maneuver is developed. The first step is utilized for adjusting the body pitch, synchronizing the phases of all six legs, and speeding up the body's forward velocity. This provides adequate initial conditions for the second step leaping, which creates a long-distance flight and adequate landing for follow-up running. In addition, we also report on the strategy of stride length regulation. With implementation of the range sensor, the robot can regulate its stride in order to reach a specific and desired position for leaping. The gait transition and initiation of leaping is fully autonomous. The behavioral development is implemented in the RHex-style robot and is evaluated experimentally. [ABSTRACT FROM PUBLISHER]