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From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation

Ma, Wen-Loong and Ames, Aaron D. (2019) From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation. . (Unpublished)

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This paper systematically decomposes quadrupeds into bipeds to rapidly generate walking gaits, and then recomposes these gaits to obtain quadrupedal locomotion. We begin by decomposing the full-order, nonlinear and hybrid dynamics of a three-dimensional quadrupedal robot, including its continuous and discrete dynamics, into two bipedal systems that are subject to external forces. Using the hybrid zero dynamics (HZD) framework, gaits for these bipedal robots can be rapidly generated (on the order of seconds) along with corresponding controllers. The decomposition is performed in such a way that the bipedal walking gaits and controllers can be composed to yield dynamic walking gaits for the original quadrupedal robot --- the result, therefore, is the rapid generation of dynamic quadruped gaits utilizing the full-order dynamics. This methodology is demonstrated through the rapid generation (3.96 seconds on average) of four stepping-in-place gaits and one ambling gait at 0.35 m/s on a quadrupedal robot --- the Vision 60, with 36 state variables and 12 control inputs --- both in simulation and through outdoor experiments. This suggested a new approach for fast quadrupedal trajectory planning using full-body dynamics, without the need for empirical model simplification, wherein methods from dynamic bipedal walking can be directly applied to quadrupeds.

Item Type:Report or Paper (Discussion Paper)
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URLURL TypeDescription Paper
Ma, Wen-Loong0000-0002-0115-5632
Ames, Aaron D.0000-0003-0848-3177
Additional Information:The work of WL. Ma and A. D. Ames are supported by NSF grants 1724464, 1544332 and 1724457.
Funding AgencyGrant Number
Record Number:CaltechAUTHORS:20191115-153429777
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:99873
Deposited By: Tony Diaz
Deposited On:16 Nov 2019 00:24
Last Modified:16 Nov 2019 00:24

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