A compliant ankle-actuated compass walker with triggering timing control

• URL: http://arxiv.org/abs/2602.07158v1
• Date: Fri, 06 Feb 2026 20:00:19 GMT
• Title: A compliant ankle-actuated compass walker with triggering timing control
• Abstract summary: A new model is proposed, named triggering controlled ankle actuated gait compass (TC-AACG), which allows non-instantaneous compliant ankle pushoff.<n>Our systematic examination shows that the proposed approach extends the locomotion capabilities of a biped model compared to impulsive ankle pushoff approach.
• Score: 0.552480439325792
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: Passive dynamic walkers are widely adopted as a mathematical model to represent biped walking. The stable locomotion of these models is limited to tilted surfaces, requiring gravitational energy. Various techniques, such as actuation through the ankle and hip joints, have been proposed to extend the applicability of these models to level ground and rough terrain with improved locomotion efficiency. However, most of these techniques rely on impulsive energy injection schemes and torsional springs, which are quite challenging to implement in a physical platform. Here, a new model is proposed, named triggering controlled ankle actuated compass gait (TC-AACG), which allows non-instantaneous compliant ankle pushoff. The proposed technique can be implemented in physical platforms via series elastic actuators (SEAs). Our systematic examination shows that the proposed approach extends the locomotion capabilities of a biped model compared to impulsive ankle pushoff approach. We provide extensive simulation analysis investigating the locomotion speed, mechanical cost of transport, and basin of attraction of the proposed model.

Related papers

• Motion Design for Grasp-Based Dynamic Locomotion in Microgravity [5.301721673195314]
  This paper presents insights for grasp-based dynamic locomotion with multi-limbed robotic systems in microgravity.<n>The investigated design parameters include gait pattern, stride length, locomotion speed, and nominal posture.<n>The results demonstrate that enlarging the feasible contact wrench space and attenuating impulsive whole-body dynamics improve locomotion performance.
  arXiv  Detail & Related papers  (2026-05-20T20:06:01Z)
• A Foot Resistive Force Model for Legged Locomotion on Muddy Terrains [13.833218559967348]
  Legged robots face significant challenges in moving and navigating on deformable and highly yielding terrain such as mud.<n>We present a resistive force model for legged foot-mud interactions.<n>We take advantage of the model to design a new morphing robotic foot for effective and efficient legged locomotion.
  arXiv  Detail & Related papers  (2026-04-13T19:53:52Z)
• Bipedal-Walking-Dynamics Model on Granular Terrains [14.386787371962987]
  Bipedal robots have demonstrated high agility and mobility in unstructured environments such as sand.<n>We present a new dynamics-modeling approach to capture and predict bipedal-walking locomotion on granular media.
  arXiv  Detail & Related papers  (2026-04-13T19:12:22Z)
• Weight Updates as Activation Shifts: A Principled Framework for Steering [54.70188910511715]
  Activation steering promises to be an extremely parameter-efficient form of adaptation, but its effectiveness depends on critical design choices.<n>We establish a first-order equivalence between activation-space interventions and weight-space updates, deriving the conditions under which activation steering can replicate fine-tuning behavior.<n>This equivalence yields a principled framework for steering design and identifies the post-block output as a theoretically-backed and highly expressive intervention site.
  arXiv  Detail & Related papers  (2026-02-28T02:50:04Z)
• Dynamic Modeling and MPC for Locomotion of Tendon-Driven Soft Quadruped [0.0]
  SLOT (Soft Legged Omnidirectional Tetrapod) is a tendon-driven soft quadruped robot with 3D-printed TPU legs.<n>Each leg is modeled as a deformable continuum using discrete Cosserat rod theory.<n>A modular whole-body modeling framework is introduced, in which compliant leg dynamics are represented.
  arXiv  Detail & Related papers  (2026-02-18T11:14:22Z)
• A 26-Gram Butterfly-Inspired Robot Achieving Autonomous Tailless Flight [61.21669716392821]
  textitAirPulse is a 26-gram butterfly-inspired robot that achieves the first onboard, closed-loop controlled flight for a tailless two-winged platform at this scale.<n>It replicates key biomechanical traits of butterfly flight, utilizing low-aspect-ratio, compliant carbon-fiber-reinforced wings and low-frequency flapping that reproduces characteristic biological body undulations.
  arXiv  Detail & Related papers  (2026-02-06T15:58:50Z)
• Diffuse-CLoC: Guided Diffusion for Physics-based Character Look-ahead Control [16.319698848279966]
  We present Diffuse-CLoC, a guided diffusion framework for physics-based look-ahead control.<n>It enables intuitive, steerable, and physically realistic motion generation.
  arXiv  Detail & Related papers  (2025-03-14T18:42:29Z)
• Offline Adaptation of Quadruped Locomotion using Diffusion Models [59.882275766745295]
  We present a diffusion-based approach to quadrupedal locomotion that simultaneously addresses the limitations of learning and interpolating between multiple skills.<n>We show that these capabilities are compatible with a multi-skill policy and can be applied with little modification and minimal compute overhead.<n>We verify the validity of our approach with hardware experiments on the ANYmal quadruped platform.
  arXiv  Detail & Related papers  (2024-11-13T18:12:15Z)
• VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation [78.92147339883137]
  We show that it is pivotal in increasing controller robustness by learning a latent space capturing the key stance phases constituting a particular gait. We demonstrate that specific properties of the drive signal map directly to gait parameters such as cadence, footstep height and full stance duration. The use of a generative model facilitates the detection and mitigation of disturbances to provide a versatile and robust planning framework.
  arXiv  Detail & Related papers  (2022-05-02T19:49:53Z)
• Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion [69.87112582900363]
  Current planners are unable to vary key gait parameters continuously while the robot is in motion. In this work we address this limitation by learning a latent space capturing the key stance phases constituting a particular gait. We demonstrate that specific properties of the drive signal map directly to gait parameters such as cadence, foot step height and full stance duration.
  arXiv  Detail & Related papers  (2021-12-09T10:02:02Z)
• Learning a Shared Model for Motorized Prosthetic Joints to Predict Ankle-Joint Motion [0.0]
  We propose a learning-based shared model for predicting ankle-joint motion for different locomotion modes. We show that the shared model is adequate for predicting the ankle angles and moments for different locomotion modes without explicitly classifying between the modes.
  arXiv  Detail & Related papers  (2021-11-14T19:02:40Z)
• Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots [121.42930679076574]
  We present a model-free reinforcement learning framework for training robust locomotion policies in simulation. domain randomization is used to encourage the policies to learn behaviors that are robust across variations in system dynamics. We demonstrate this on versatile walking behaviors such as tracking a target walking velocity, walking height, and turning yaw.
  arXiv  Detail & Related papers  (2021-03-26T07:14:01Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.