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Reactive coordination: stabilizing common quadrupedal gaits without CPGs

Avik De
January 31, 2017
10

Reactive coordination: stabilizing common quadrupedal gaits without CPGs

This talk was presented at a Neuroscience conference at Tulane University in January 2017

Avik De

January 31, 2017
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Transcript

  1. Reactive coordination: stabilizing common
    quadrupedal gaits without CPGs
    NSF CABiR (CDI 1028237)
    ONR/OSD Vanevar Bush Fellowship N00014-16-1-2817
    Avik De and Daniel E. Koditschek
    Electrical & Systems Engg, University of Penn.
    Overview Methods and Results
    Retraction Preflexive
    Phase control
    Informational coupling*
    References
    [Klavins 02] E. Klavins, H. Komsuoglu, R. J. Full, and D. E. Koditschek, “The Role of Reflexes versus Central Pattern Generators in Dynamical Legged Locomotion,” in Neurotechnology for Biomimetic Robots, MIT Press, Cambridge, MA, 2002, pp. 351–382.
    [Klavins 02]
    Background: Clocked (CPG) vs. Reflex
    • [Klavins 02] compares two strategies on two simple models
    • Uncovers “the value of feedback as a hedge against
    environmental uncertainty”
    • Suggests two axes of exploration (left)
    • General structure of reflex coordination (right)
    Informational coupling*
    RHex
    Minitaur
    New agenda: template
    composition
    • Templates are “peripheral”
    dynamical systems
    • Flexible methodology for gait
    synthesis
    New application: virtual
    bipedal quadruped gaits
    • Controllers designed on
    vertical hopper(s)
    • Tuning at the template level
    • E.g. leaping while running
    (right) accomplished by
    template energization (no
    centralized tuning nor
    coordination required)
    Virtual leg recruitment
    New template for preflexive
    coordination: slot hopper (left)
    • Exhibits 2 types of preflexive
    coordination
    • Key parameter: non-dimensional
    inertia
    • Analytical stability proofs
    New coordination: phase/attitude control
    • Only “centralized” sensor information is body
    attitude
    • Changes frequency of individual hopper
    • Shown as , preflexive (left)
    Empirical anchoring to virtual biped
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    4
    Simulation
    Experiment
    Change mass
    concentration

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