Bulletin of the American Physical Society
APS March Meeting 2022
Volume 67, Number 3
Monday–Friday, March 14–18, 2022; Chicago
Session Q03: Robophysics II
3:00 PM–6:00 PM,
Wednesday, March 16, 2022
Room: McCormick Place W-176A
Sponsoring
Units:
DBIO GSNP
Chair: Feifei Qian, University of Southern California
Abstract: Q03.00002 : A mode map model to predict state transitions of multi-legged robots within obstacle fields
3:36 PM–3:48 PM
Presenter:
Haodi Hu
(University of Southern California)
Authors:
Haodi Hu
(University of Southern California)
Matthew D Kvalheim
(University of Pennsylvania)
Feifei Qian
(University of Southern California)
We studied a robophysics-informed model of a quadrupedal robot and found that---for periodic gaits and spatially periodic obstacle fields---robot behaviors often quickly become periodic, allowing the robot to traverse an obstacle field in different directions by switching between the periodic steady-states of different gaits, but without using any body-level steering. This reduced-order, discrete-time "mode map" model predicts the obstacle-modulated robot state transitions for a variety of gaits, aids in the systematic analysis of convergence mechanisms, and enables approximations of the basins of attraction of steady-state behaviors. Using these basins, we demonstrate an "obstacle-aided" navigation method that allows the robot to elicit obstacle collisions to generate desired trajectories.
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