Computer Science > Robotics
[Submitted on 8 Mar 2023 (v1), last revised 8 Apr 2024 (this version, v3)]
Title:Breaking Symmetries Leads to Diverse Quadrupedal Gaits
View PDF HTML (experimental)Abstract:Symmetry manifests itself in legged locomotion in a variety of ways. No matter where a legged system begins to move periodically, the torso and limbs coordinate with each other's movements in a similar manner. Also, in many gaits observed in nature, the legs on both sides of the torso move in exactly the same way, sometimes they are just half a period out of phase. Furthermore, when some animals move forward and backward, their movements are strikingly similar as if the time had been reversed. This work aims to generalize these phenomena and propose formal definitions of symmetries in legged locomotion using group theory terminology. Symmetries in some common quadrupedal gaits such as pronking, bounding, half-bounding, and galloping have been discussed. Moreover, a spring-mass model has been used to demonstrate how breaking symmetries can alter gaits in a legged system. Studying the symmetries may provide insight into which gaits may be suitable for a particular robotic design, or may enable roboticists to design more agile and efficient robot controllers by using certain gaits.
Submission history
From: Jiayu Ding [view email][v1] Wed, 8 Mar 2023 19:48:43 UTC (3,621 KB)
[v2] Thu, 22 Feb 2024 23:19:52 UTC (6,133 KB)
[v3] Mon, 8 Apr 2024 21:11:25 UTC (4,722 KB)
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