Crawling Gait Enables Stable Quadrupedal Locomotion in A Bioinspired Robotic Rat

Ruochao Wang*, Xiaolong Quan, Hang Xiao, Rongjie Du, Boyang Qin, Qing Shi

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Constrained by the performance of actuators and controllers, achieving stable walking in small-scale quadruped robots has been more challenging compared to larger ones. Rats, in their natural habitat, can achieve stable walking even in extreme environments like narrow spaces by utilizing crawling motion to lower their center of mass. Inspired by this, we conducted a comparative study of the walking stability between crawling and trot gaits on a ratinspired robot named SQuRo. Initially, we collected motion data for both crawling and trot gaits of SQuRo in a simulated environment. Subsequently, we analyzed the dynamic stability of the robot using Poincaré maps. The results indicate that SQuRo's phase trajectories converged into closed loops with periodicity under both gaits, demonstrating the presence of limit cycles. Moreover, fixed points were observed in the Poincaré maps for both gaits, suggesting the dynamic stability of quadrupedal locomotion. Compared to the trot gait, the convergence loops of the crawling gait phase trajectories were smaller, indicating more stable locomotion. We tested the performance of SQuRo's crawling gait in challenging outdoor environments, where SQuRo demonstrated stable walking consistently. This work provides a new approach for achieving stable walking in small-scale quadruped robots and can be readily applied to controller design across different sizes of legged robots.

Original languageEnglish
Title of host publication2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages68-73
Number of pages6
ISBN (Electronic)9798350372601
DOIs
Publication statusPublished - 2024
Event2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024 - Alesund, Norway
Duration: 24 Jun 202428 Jun 2024

Publication series

Name2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024

Conference

Conference2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024
Country/TerritoryNorway
CityAlesund
Period24/06/2428/06/24

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