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2016 | OriginalPaper | Chapter

Towards a Comparative Measure of Legged Agility

Authors : J. M. Duperret, G. D. Kenneally, J. L. Pusey, D. E. Koditschek

Published in: Experimental Robotics

Publisher: Springer International Publishing

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Abstract

We introduce an agility measure enabling the comparison of two very different leaping-from-rest transitions by two comparably powered but morphologically different legged robots. We use the measure to show that a flexible spine outperforms a rigid back in the leaping-from-rest task. The agility measure also sheds light on the source of this benefit: core actuation through a sufficiently powerful parallel elastic actuated spine outperforms a similar power budget applied either only to preload the spine or only to actuate the spine during the leap, as well as a rigid backed configuration of the identical machine.

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next chapter On Prismatic and Torsional Actuation for Running Legged Robots
Appendix
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Footnotes
1
Steady state motions such as running or hopping that can be approximated with Hamiltonian systems will have negligible agility according to our metric in accordance with biological observations that these motions require significantly less muscle power output as compared to leaping accelerations [22, 28].
 
2
Likely it will be useful in later work to consider a notion of integrated specific agility accumulated over a sequence of stance events, such as when evaluating the agility of an accelerating bound containing a brief aerial phase between front and rear leg-ground contacts.
 
3
Vicon motion capture data is used to back out the kinetic and potential energy of the robots. Neglecting air resistance, the apex specific extrinsic body energy minus the starting specific extrinsic body energy gives a very close approximation to the specific agility (1) of the leap. The method used to calculate endurance is given in Appendix 1.
 
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Metadata
Title
Towards a Comparative Measure of Legged Agility
Authors
J. M. Duperret
G. D. Kenneally
J. L. Pusey
D. E. Koditschek
Copyright Year
2016
Book
Experimental Robotics

Print ISBN: 978-3-319-23777-0

Electronic ISBN: 978-3-319-23778-7

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-23778-7_1