Energy Efficiency of a Quadruped Robot with Neuro-Inspired Control in Complex Environments
This paper proposes an analysis of the energy efficiency of a small quadruped robotic structure, designed based on the MIT Mini Cheetah, controlled using a central pattern generator based on the FitzHugh–Nagumo neuron. The robot’s performance evaluated on structurally complex terrain in a dynamic si...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-01-01
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| Series: | Energies |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1996-1073/14/2/433 |
| _version_ | 1797411325018636288 |
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| author | Paolo Arena Luca Patanè Salvatore Taffara |
| author_facet | Paolo Arena Luca Patanè Salvatore Taffara |
| author_sort | Paolo Arena |
| collection | DOAJ |
| description | This paper proposes an analysis of the energy efficiency of a small quadruped robotic structure, designed based on the MIT Mini Cheetah, controlled using a central pattern generator based on the FitzHugh–Nagumo neuron. The robot’s performance evaluated on structurally complex terrain in a dynamic simulation environment is compared with other robotic structures on wheels and with hybrid architectures. The energy cost involved in carrying out an assigned task involving the need to traverse uneven terrain is calculated as a relevant index to be taken into account. In particular, simple control strategies impacting the leg trajectories are taken into account as the main factors affecting the energy efficiency in different terrain configurations. The adaptation of the leg trajectories is evaluated depending on the terrain characteristics, improving the locomotion performance. |
| first_indexed | 2024-03-09T04:44:26Z |
| format | Article |
| id | doaj.art-ebaded4857af455aad466020881262fd |
| institution | Directory Open Access Journal |
| issn | 1996-1073 |
| language | English |
| last_indexed | 2024-03-09T04:44:26Z |
| publishDate | 2021-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Energies |
| spelling | doaj.art-ebaded4857af455aad466020881262fd2023-12-03T13:17:50ZengMDPI AGEnergies1996-10732021-01-0114243310.3390/en14020433Energy Efficiency of a Quadruped Robot with Neuro-Inspired Control in Complex EnvironmentsPaolo Arena0Luca Patanè1Salvatore Taffara2Dipartimento di Ingegneria Elettrica Elettronica e Informatica, University of Catania, Viale A. Doria 6, 95100 Catania, ItalyDipartimento di Ingegneria, Università degli Studi di Messina, Contrada di Dio, 98166 Messina, ItalyDipartimento di Ingegneria Elettrica Elettronica e Informatica, University of Catania, Viale A. Doria 6, 95100 Catania, ItalyThis paper proposes an analysis of the energy efficiency of a small quadruped robotic structure, designed based on the MIT Mini Cheetah, controlled using a central pattern generator based on the FitzHugh–Nagumo neuron. The robot’s performance evaluated on structurally complex terrain in a dynamic simulation environment is compared with other robotic structures on wheels and with hybrid architectures. The energy cost involved in carrying out an assigned task involving the need to traverse uneven terrain is calculated as a relevant index to be taken into account. In particular, simple control strategies impacting the leg trajectories are taken into account as the main factors affecting the energy efficiency in different terrain configurations. The adaptation of the leg trajectories is evaluated depending on the terrain characteristics, improving the locomotion performance.https://www.mdpi.com/1996-1073/14/2/433cost of transportFitzHugh–Nagumo’s neuronleg trajectoriesdynamic simulationquadruped robotnullcline-based control strategy |
| spellingShingle | Paolo Arena Luca Patanè Salvatore Taffara Energy Efficiency of a Quadruped Robot with Neuro-Inspired Control in Complex Environments Energies cost of transport FitzHugh–Nagumo’s neuron leg trajectories dynamic simulation quadruped robot nullcline-based control strategy |
| title | Energy Efficiency of a Quadruped Robot with Neuro-Inspired Control in Complex Environments |
| title_full | Energy Efficiency of a Quadruped Robot with Neuro-Inspired Control in Complex Environments |
| title_fullStr | Energy Efficiency of a Quadruped Robot with Neuro-Inspired Control in Complex Environments |
| title_full_unstemmed | Energy Efficiency of a Quadruped Robot with Neuro-Inspired Control in Complex Environments |
| title_short | Energy Efficiency of a Quadruped Robot with Neuro-Inspired Control in Complex Environments |
| title_sort | energy efficiency of a quadruped robot with neuro inspired control in complex environments |
| topic | cost of transport FitzHugh–Nagumo’s neuron leg trajectories dynamic simulation quadruped robot nullcline-based control strategy |
| url | https://www.mdpi.com/1996-1073/14/2/433 |
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