Energy Efficiency of a Quadruped Robot with Neuro-Inspired Control in Complex Environments

Paolo Arena, Luca Patanè and Salvatore Taffara
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Paolo Arena: Dipartimento di Ingegneria Elettrica Elettronica e Informatica, University of Catania, Viale A. Doria 6, 95100 Catania, Italy
Luca Patanè: Dipartimento di Ingegneria, Università degli Studi di Messina, Contrada di Dio, 98166 Messina, Italy
Salvatore Taffara: Dipartimento di Ingegneria Elettrica Elettronica e Informatica, University of Catania, Viale A. Doria 6, 95100 Catania, Italy

Energies, 2021, vol. 14, issue 2, 1-16

Abstract: 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.

Keywords: cost of transport; FitzHugh–Nagumo’s neuron; leg trajectories; dynamic simulation; quadruped robot; nullcline-based control strategy (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2021
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