Biological Cybernetics

, Volume 107, Issue 3, pp 309–320

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

Authors

    • Department of Advanced RoboticsIstituto Italiano di Tecnologia (IIT)
  • Alexander Spröwitz
    • Biorobotics LaboratoryÉcole Polytechnique Fédérale de Lausanne (EPFL)
  • Alexandre Tuleu
    • Biorobotics LaboratoryÉcole Polytechnique Fédérale de Lausanne (EPFL)
  • Massimo Vespignani
    • Biorobotics LaboratoryÉcole Polytechnique Fédérale de Lausanne (EPFL)
  • Nikos G. Tsagarakis
    • Department of Advanced RoboticsIstituto Italiano di Tecnologia (IIT)
  • Auke J. Ijspeert
    • Biorobotics LaboratoryÉcole Polytechnique Fédérale de Lausanne (EPFL)
  • Darwin G. Caldwell
    • Department of Advanced RoboticsIstituto Italiano di Tecnologia (IIT)
Original Paper

DOI: 10.1007/s00422-013-0551-9

Cite this article as:
Moro, F.L., Spröwitz, A., Tuleu, A. et al. Biol Cybern (2013) 107: 309. doi:10.1007/s00422-013-0551-9

Abstract

This manuscript proposes a method to directly transfer the features of horse walking, trotting, and galloping to a quadruped robot, with the aim of creating a much more natural (horse-like) locomotion profile. A principal component analysis on horse joint trajectories shows that walk, trot, and gallop can be described by a set of four kinematic Motion Primitives (kMPs). These kMPs are used to generate valid, stable gaits that are tested on a compliant quadruped robot. Tests on the effects of gait frequency scaling as follows: results indicate a speed optimal walking frequency around 3.4 Hz, and an optimal trotting frequency around 4 Hz. Following, a criterion to synthesize gait transitions is proposed, and the walk/trot transitions are successfully tested on the robot. The performance of the robot when the transitions are scaled in frequency is evaluated by means of roll and pitch angle phase plots.

Keywords

Quadrupedal locomotionKinematic Motion Primitives (kMPs)Horse-like gaitsGait transitionsCompliant quadruped robot

Supplementary material

422_2013_551_MOESM1_ESM.avi (19.1 mb)
Supplementary material 1 (avi 19571 KB)

Copyright information

© Springer-Verlag Berlin Heidelberg 2013