Factors Affecting Passive Stability of Quadruped Trotting with An-Isotropic Compliant Legs

Mohammad Reza Yazdi Samadi; Sanford G. Meek

doi:10.1007/978-3-031-89471-8_16

Factors Affecting Passive Stability of Quadruped Trotting with An-Isotropic Compliant Legs

Mohammad Reza Yazdi Samadi^*
, Sanford G. Meek

^*Kontaktforfatter

The University of Utah

Publikation: Kapitel i bog/rapport/konference-proceeding › Konferencebidrag i proceedings › Forskning › peer review

Abstract

This research focuses on the dynamics of an under-actuated quadruped trotting robot with directional leg compliance. The equations of motion for such a robot consist of a system of 22 second-order nonlinear ordinary differential equations, making an analytical solution infeasible. To investigate whether such a dog-sized robot is capable of passive stable trotting, computer simulations were conducted to perform a limited search of the enormous design space, utilizing the design of experiments techniques. Results indicate that fast-paced stable trotting is achievable, and stability can be improved through the intelligent selection of leg parameters.

Originalsprog	Engelsk
Titel	European Robotics Forum 2025 : Boosting the Synergies between Robotics and AI for a Stronger Europe
Redaktører	Marco Huber, Alexander Verl, Werner Kraus
Vol/bind	36
Udgivelsessted	Cham
Forlag	Springer
Publikationsdato	maj 2025
Sider	101-107
ISBN (Trykt)	978-3-031-89471-1
ISBN (Elektronisk)	978-3-031-89471-8
DOI	https://doi.org/10.1007/978-3-031-89471-8_16
Status	Udgivet - maj 2025
Begivenhed	European Robotics Forum 2025 - Stuttgart, Tyskland Varighed: 25. mar. 2025 → 27. mar. 2025

Konference

Konference	European Robotics Forum 2025
Land/Område	Tyskland
By	Stuttgart
Periode	25/03/2025 → 27/03/2025

Navn	Springer Proceedings in Advanced Robotics
Vol/bind	36
ISSN	2511-1256

Finansiering

This work was supported in part by the US National Science Foundation under Grant Number 1427422.

Dokumenter og links

10.1007/978-3-031-89471-8_16

SDU link

Tjek adgangen til materialet i Syddansk Universitetsbiblioteks søgemaskine

Citationsformater

Samadi, Mohammad Reza Yazdi ; Meek, Sanford G. / Factors Affecting Passive Stability of Quadruped Trotting with An-Isotropic Compliant Legs. European Robotics Forum 2025: Boosting the Synergies between Robotics and AI for a Stronger Europe. red. / Marco Huber ; Alexander Verl ; Werner Kraus. Bind 36 Cham : Springer, 2025. s. 101-107 (Springer Proceedings in Advanced Robotics, Bind 36).

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title = "Factors Affecting Passive Stability of Quadruped Trotting with An-Isotropic Compliant Legs",

abstract = "This research focuses on the dynamics of an under-actuated quadruped trotting robot with directional leg compliance. The equations of motion for such a robot consist of a system of 22 second-order nonlinear ordinary differential equations, making an analytical solution infeasible. To investigate whether such a dog-sized robot is capable of passive stable trotting, computer simulations were conducted to perform a limited search of the enormous design space, utilizing the design of experiments techniques. Results indicate that fast-paced stable trotting is achievable, and stability can be improved through the intelligent selection of leg parameters.",

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Samadi, MRY & Meek, SG 2025, Factors Affecting Passive Stability of Quadruped Trotting with An-Isotropic Compliant Legs. i M Huber, A Verl & W Kraus (red), European Robotics Forum 2025: Boosting the Synergies between Robotics and AI for a Stronger Europe. bind 36, Springer, Cham, Springer Proceedings in Advanced Robotics, bind 36, s. 101-107, European Robotics Forum 2025, Stuttgart, Tyskland, 25/03/2025. https://doi.org/10.1007/978-3-031-89471-8_16

Factors Affecting Passive Stability of Quadruped Trotting with An-Isotropic Compliant Legs. / Samadi, Mohammad Reza Yazdi; Meek, Sanford G.
European Robotics Forum 2025: Boosting the Synergies between Robotics and AI for a Stronger Europe. red. / Marco Huber; Alexander Verl; Werner Kraus. Bind 36 Cham: Springer, 2025. s. 101-107 (Springer Proceedings in Advanced Robotics, Bind 36).

Publikation: Kapitel i bog/rapport/konference-proceeding › Konferencebidrag i proceedings › Forskning › peer review

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N2 - This research focuses on the dynamics of an under-actuated quadruped trotting robot with directional leg compliance. The equations of motion for such a robot consist of a system of 22 second-order nonlinear ordinary differential equations, making an analytical solution infeasible. To investigate whether such a dog-sized robot is capable of passive stable trotting, computer simulations were conducted to perform a limited search of the enormous design space, utilizing the design of experiments techniques. Results indicate that fast-paced stable trotting is achievable, and stability can be improved through the intelligent selection of leg parameters.

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KW - Stability analysis

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KW - Under-actuated compliant leg

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Samadi MRY, Meek SG. Factors Affecting Passive Stability of Quadruped Trotting with An-Isotropic Compliant Legs. I Huber M, Verl A, Kraus W, red., European Robotics Forum 2025: Boosting the Synergies between Robotics and AI for a Stronger Europe. Bind 36. Cham: Springer. 2025. s. 101-107. (Springer Proceedings in Advanced Robotics, Bind 36). doi: 10.1007/978-3-031-89471-8_16