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Haldun Komsuoglu





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Characterization of Dynamic Behaviors in a Hexapod Robot

International Symposium on Experimental Robotics, December 2010

Haldun Komsuoglu*, Anirudha Majumdar*, Yasemin O. Aydin†, D. E. Koditschek*
*: Electrical and Systems Engineering, University of Pennsylvania
†: Middle East Technical University
Full PDF | Penn Scholarly Commons

       This paper investigates the relationship between energetic effi- ciency and the dynamical structure of a legged robot’s gait. We present an experimental data set collected from an untethered dynamic hexapod, EduBot [1] (a RHex-class [2] machine), operating in four distinct manually selected gaits. We study the robot’s single tripod stance dynamics of the robot which are identified by a purely jointspace-driven estimation method introduced in this paper. Our results establish a strong relationship between energetic efficiency (simultaneous reduction in power consumption and in- crease in speed) and the dynamical structure of an alternating tripod gait as measured by its fidelity to the SLIP mechanics—a dynamical pattern exhibit- ing characteristic exchanges of kinetic and spring-like potential energy [3]. We conclude that gaits that are dynamic in this manner give rise to better uti- lization of energy for the purposes of locomotion.
This work is supported in part by the National Science Foundation (NSF) under a FIBR Award 0425878. Yasemin Ozkan Aydin is supported by International Research Fellowship Programme of The Scienti c and Technological Research Council of Turkey (TUBITAK).
SLIP Template
BibTeX entry
     author = {Komsuoglu, Haldun and Majumdar, Anirudha and Aydin, Yasemin Ozkan and Koditschek, Daniel E.},
   keywords = {dynamical locomotion, efficiency, RHex, slip, specific resistance},
      title = {Characterization of Dynamic Behaviors in a  Hexapod Robot},
  booktitle = {Proceedings of International Symposium on Experimental Robotics},
       year = {2010},
       note = {accepted},

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