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Computer Science > Robotics

arXiv:2211.00715 (cs)
[Submitted on 1 Nov 2022]

Title:Tunable Dynamic Walking via Soft Twisted Beam Vibration

Authors:Yuhao Jiang, Fuchen Chen, Daniel M. Aukes
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Abstract:We propose a novel mechanism that propagates vibration through soft twisted beams, taking advantage of dynamically-coupled anisotropic stiffness to simplify the actuation of walking robots. Using dynamic simulation and experimental approaches, we show that the coupled stiffness of twisted beams with terrain contact can be controlled to generate a variety of complex trajectories by changing the frequency of the input signal. This work reveals how ground contact influences the system's dynamic behavior, supporting the design of walking robots inspired by this phenomenon. We also show that the proposed twisted beam produces a tunable walking gait from a single vibrational input.
Comments: 8 pages, 5 figure, this paper has been submitted to IEEE Robotics and Automation Letters, copyright may be transferred without notice, after which this version may no longer be accessible, the supplemental video is available at: this https URL
Subjects: Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2211.00715 [cs.RO]
  (or arXiv:2211.00715v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2211.00715
Journal reference: IEEE Robotics and Automation Letters, vol. 8, no. 4, pp. 1967-1974, April 2023
Related DOI: https://doi.org/10.1109/LRA.2023.3244716

Submission history

From: Yuhao Jiang [view email]
[v1] Tue, 1 Nov 2022 19:28:07 UTC (2,315 KB)
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