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Towards rich motion skills with the lightweight quadruped robot Serval

机译：以轻量级的四轮机器人赛车为丰富的运动技能

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摘要

Bio-inspired robotic designs introducing and benefiting from morphological aspects present in animals allowed the generation of fast, robust, and energy-efficient locomotion. We used engineering tools and interdisciplinary knowledge transferred from biology to build low-cost robots, able to achieve a certain level of versatility. Serval, a compliant quadruped robot with actuated spine and high range of motion in all joints, was developed to address the question of what mechatronic complexity is needed to achieve rich motion skills. In our experiments, the robot presented a high level of versatility (number of skills) at medium speed, with a minimal control effort and, in this article, no usage of its spine. Implementing a basic kinematics-duplication from dogs, we found strengths to emphasize, weaknesses to correct, and made Serval ready for future attempts to achieve more agile locomotion. In particular, we investigated the following skills: walk, trot, gallop, bound (crouched), sidestep, turn with a radius, ascend slopes including flat ground transition, perform single and double step-downs, fall, trot over bumpy terrain, lie/sit down, and stand up.
机译：生物启发的机器人设计从动物中存在的形态学方面引入和受益，使得产生快速，强大，节能的运动。我们使用从生物学转移的工程工具和跨学科知识来构建低成本机器人，能够实现一定程度的多功能性。 SELEL，符合符合的四轮机器人，具有致动脊柱和所有关节的高度运动，开发出解决所需的机电复杂性以实现丰富的运动技能的问题。在我们的实验中，机器人在中速下呈现了高水平的通用性（技能数量），并在本文中具有最小的控制努力，并且在本文中，没有使用其脊柱。从狗实施基本的运动学重复，我们发现强调强调，弱点纠正，并使赛服务准备好实现更加敏捷的机器。特别是，我们调查了以下技能：走路，小跑，疾驰，束缚（蹲伏），索迪夫，转向半径，上升斜坡，包括平面过渡，单身和双降压，秋天，躺在凸起的地形上，撒谎/坐下来，站起来。

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