000257130 001__ 257130
000257130 005__ 20190617200536.0
000257130 0247_ $$a10.5075/epfl-thesis-8592$$2doi
000257130 037__ $$aTHESIS
000257130 041__ $$aeng
000257130 088__ $$a8592
000257130 245__ $$aTowards Agility: Definition, Benchmark and Design Considerations for Small, Quadrupedal Robots
000257130 260__ $$aLausanne$$bEPFL$$c2018
000257130 269__ $$a2018
000257130 300__ $$a270
000257130 336__ $$aTheses
000257130 502__ $$aProf. Jamie Paik (présidente) ; Prof. Auke Ijspeert (directeur de thèse) ; Prof. Marco Hutter, Prof. Monica Daley, Prof. Jonathan W. Hurst (rapporteurs)
000257130 520__ $$aAgile quadrupedal locomotion in animals and robots is yet to be fully understood, quantified
or achieved. An intuitive notion of agility exists, but neither a concise definition nor a common
benchmark can be found. Further, it is unclear, what minimal level of mechatronic complexity
is needed for this particular aspect of locomotion.
In this thesis we address and partially answer two primary questions: (Q1) What is agile
legged locomotion (agility) and how can wemeasure it? (Q2) How can wemake agile legged
locomotion with a robot a reality?
To answer our first question, we define agility for robot and animal alike, building a common
ground for this particular component of locomotion and introduce quantitative measures
to enhance robot evaluation and comparison. The definition is based on and inspired by
features of agility observed in nature, sports, and suggested in robotics related publications.
Using the results of this observational and literature review, we build a novel and extendable
benchmark of thirteen different tasks that implement our vision of quantitatively classifying
agility. All scores are calculated from simple measures, such as time, distance, angles and
characteristic geometric values for robot scaling. We normalize all unit-less scores to reach
comparability between different systems. An initial implementation with available robots and
real agility-dogs as baseline finalize our effort of answering the first question.
Bio-inspired designs introducing and benefiting from morphological aspects present in nature
allowed the generation of fast, robust and energy efficient locomotion. We use engineering
tools and interdisciplinary knowledge transferred from biology to build low-cost robots able
to achieve a certain level of agility and as a result of this addressing our second question. This
iterative process led to a series of robots from Lynx over Cheetah-Cub-S, Cheetah-Cub-AL,
and Oncilla to Serval, a compliant robot with actuated spine, high range of motion in all joints.
Serval presents a high level of mobility at medium speeds. With many successfully implemented
skills, using a basic kinematics-duplication from dogs (copying the foot-trajectories
of real animals and replaying themotion on the robot using a mathematical interpretation),
we found strengths to emphasize, weaknesses to correct and made Serval ready for future
attempts to achieve even more agile locomotion. We calculated Serval’s agility scores with the
result of it performing better than any of its predecessors. Our small, safe and low-cost robot
is able to execute up to 6 agility tasks out of 13 with the potential to reachmore after extended
development. Concluding, we like to mention that Serval is able to cope with step-downs,
smooth, bumpy terrain and falling orthogonally to the ground.
000257130 592__ $$b2018
000257130 6531_ $$aAgility
000257130 6531_ $$aBenchmark
000257130 6531_ $$aQuadruped
000257130 6531_ $$aBio-Inspiration
000257130 6531_ $$aBio-Mechatronics
000257130 6531_ $$aDesign Methodology
000257130 6531_ $$aBiorobotics
000257130 700__ $$0247749$$aEckert, Peter$$g221441
000257130 720_2 $$aIjspeert, Auke$$edir.$$g115955
000257130 8564_ $$uhttps://infoscience.epfl.ch/record/257130/files/EPFL_TH8592.pdf$$s41764465
000257130 909C0 $$pBIOROB
000257130 909CO $$qGLOBAL_SET$$pthesis$$pSTI$$pDOI$$ooai:infoscience.epfl.ch:257130$$qthesis-public
000257130 918__ $$aSTI$$cIBI-STI$$dEDRS
000257130 919__ $$aBIOROB
000257130 920__ $$a2018-06-29$$b2018
000257130 970__ $$a8592/THESES
000257130 973__ $$sPUBLISHED$$aEPFL
000257130 980__ $$aTHESIS