Elastically suspended loads can reduce the energetic cost and peak forces of legged robot locomotion. However, legged locomotion frequently exhibits multiple frequency modes due to variable leg contact times, body pitch and roll, and transient locomotion dynamics. We used a simple hexapod robot to investigate the effect of multiple frequency components on the energetic cost, dynamics, and peak forces of legged robot locomotion using a high-speed motion tracking system and the fast Fourier transform (FFT). The trajectories of the robot body and the suspended load revealed that the robot was excited by both a body pitching frequency and the primary locomotion frequency. Both frequency modes affected the dynamics of the legged robot as the natural frequency of the elastic load suspension was varied. When the natural frequency of the load suspension was reduced below the primary locomotion and body pitching frequencies, the robot consumed less average power with an elastically suspended load versus a rigidly attached load. To generalize the experimental results more broadly, a modified double-mass coupled-oscillator model with experimental parameters was shown to qualitatively predict the energetic cost and dynamics of legged robot locomotion with an elastically suspended load. The experimental results and the theoretical model could help researchers better understand locomotion with elastically suspended loads and design load suspension systems that are optimized to reduce the energetic cost and peak forces of legged locomotion.
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April 2014
Research-Article
Energetic and Dynamic Analysis of Multifrequency Legged Robot Locomotion With an Elastically Suspended Load
Jeffrey Ackerman,
Justin Seipel
Justin Seipel
e-mail: jseipel@purdue.edu
School of Mechanical Engineering,
School of Mechanical Engineering,
Purdue University
,West Lafayette, IN 47907
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Xingye Da
e-mail: xda@purdue.edu
Jeffrey Ackerman
e-mail: ackermaj@purdue.edu
Justin Seipel
e-mail: jseipel@purdue.edu
School of Mechanical Engineering,
School of Mechanical Engineering,
Purdue University
,West Lafayette, IN 47907
Contributed by Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received January 24, 2013; final manuscript received May 24, 2013; published online September 17, 2013. Assoc. Editor: Parviz Nikravesh.
J. Comput. Nonlinear Dynam. Apr 2014, 9(2): 021006 (10 pages)
Published Online: September 17, 2013
Article history
Received:
January 24, 2013
Revision Received:
May 24, 2013
Citation
Da, X., Ackerman, J., and Seipel, J. (September 17, 2013). "Energetic and Dynamic Analysis of Multifrequency Legged Robot Locomotion With an Elastically Suspended Load." ASME. J. Comput. Nonlinear Dynam. April 2014; 9(2): 021006. https://doi.org/10.1115/1.4024778
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