Morphological computation in a fast-running quadruped with elastic spine

Gerrit Adriaan Folkertsma; Arjan van der Schaft; Stefano Stramigioli

doi:10.1016/j.ifacol.2015.10.234

Morphological computation in a fast-running quadruped with elastic spine

Gerrit Adriaan Folkertsma, Arjan van der Schaft, Stefano Stramigioli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

6 Citations (Scopus)

1 Downloads (Pure)

Abstract

In high-speed locomotion, control is best shared between "brain" and "body": if the natural body dynamics already exhibit desired behaviour, control action can be restricted to stabilising this behaviour, or providing energy to keep it going. This morphological computation can be modelled and designed using Port-Hamiltonian systems (PHS) theory, since the basis of both is the interconnection of dynamic elements. In this paper, we explore the application of PHS to morphological computation, showing that a three degrees-of-freedom elastic spring functioning as spine in a quadrupedal robot can lead to forward locomotion—without any complicated control action whatsoever.

Original language	Undefined
Title of host publication	5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, LHMNC 2015
Place of Publication	Amsterdam
Publisher	Elsevier
Pages	170-175
Number of pages	6
ISBN (Print)	2405-8963
DOIs	https://doi.org/10.1016/j.ifacol.2015.10.234
Publication status	Published - Jul 2015
Event	5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control, LHMNC 2015 - Lyon, France Duration: 6 Jul 2015 → 7 Jul 2015 Conference number: 5

Publication series

Name	IFAC-PapersOnLine
Publisher	Elsevier
Number	13
Volume	38
ISSN (Print)	2405-8963

Workshop

Workshop	5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control, LHMNC 2015
Abbreviated title	LHMNC
Country/Territory	France
City	Lyon
Period	6/07/15 → 7/07/15

Keywords

EWI-26487
Robot dynamics
Locomotion
IR-98408
Numerical simulation
Control by interconnection
METIS-315046
Port Hamiltonian Systems

Access to Document

10.1016/j.ifacol.2015.10.234

http://eprints.eemcs.utwente.nl/secure2/26487/01/1-s2.0-S2405896315021254-main.pdf

Cite this

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title = "Morphological computation in a fast-running quadruped with elastic spine",

abstract = "In high-speed locomotion, control is best shared between {"}brain{"} and {"}body{"}: if the natural body dynamics already exhibit desired behaviour, control action can be restricted to stabilising this behaviour, or providing energy to keep it going. This morphological computation can be modelled and designed using Port-Hamiltonian systems (PHS) theory, since the basis of both is the interconnection of dynamic elements. In this paper, we explore the application of PHS to morphological computation, showing that a three degrees-of-freedom elastic spring functioning as spine in a quadrupedal robot can lead to forward locomotion—without any complicated control action whatsoever.",

keywords = "EWI-26487, Robot dynamics, Locomotion, IR-98408, Numerical simulation, Control by interconnection, METIS-315046, Port Hamiltonian Systems",

author = "Folkertsma, {Gerrit Adriaan} and {van der Schaft}, Arjan and Stefano Stramigioli",

note = "10.1016/j.ifacol.2015.10.234 ; null ; Conference date: 06-07-2015 Through 07-07-2015",

year = "2015",

month = jul,

doi = "10.1016/j.ifacol.2015.10.234",

language = "Undefined",

isbn = "2405-8963",

series = "IFAC-PapersOnLine",

publisher = "Elsevier",

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Folkertsma, GA, van der Schaft, A & Stramigioli, S 2015, Morphological computation in a fast-running quadruped with elastic spine. in 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, LHMNC 2015. IFAC-PapersOnLine, no. 13, vol. 38, Elsevier, Amsterdam, pp. 170-175, 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control, LHMNC 2015, Lyon, France, 6/07/15. https://doi.org/10.1016/j.ifacol.2015.10.234

Morphological computation in a fast-running quadruped with elastic spine. / Folkertsma, Gerrit Adriaan; van der Schaft, Arjan; Stramigioli, Stefano.

5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, LHMNC 2015. Amsterdam : Elsevier, 2015. p. 170-175 (IFAC-PapersOnLine; Vol. 38, No. 13).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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