SPARC: 四足歩行ロボットのための並進・回転コンプライアンスを備えた脊椎
SPARC: Spine with Prismatic and Revolute Compliance for Quadruped Robots
四足ロボット用に、回転と並進の両方向の動きが可能な3自由度の脊椎モジュールを開発し、そのコンプライアンスが高速歩行時の消費電力を21%削減することを示した。
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著者: Yue Wang
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Quadruped mammals coordinate spinal bending and axial compression to enhance locomotion agility and efficiency. However, existing robotic spines typically lack the active compliance required to support such dynamic behaviours. We present SPARC, a compact 3-DoF sagittal-plane spine module that enables simultaneous revolute and prismatic motions within a 1.26 kg package. Using a floating-base impedance controller, we facilitate independent, task-space tuning of spinal stiffness and damping to mimic biological load-bearing strategies. Benchtop experiments confirm high-fidelity rendering of commanded impedance, with linear force-displacement error within 1.5%. Systematic locomotion simulations reveal a critical speed-dependency: while low-speed efficiency is insensitive to spinal properties, precise impedance tuning becomes indispensable for high-speed performance. Our results demonstrate that an optimally compliant spine reduces power consumption by 21% at 0.9 m/s compared to a rigid-spine baseline. This efficiency gain is mechanistically attributed to the spine's role in augmenting stride length and acting as a mechanical low-pass filter to attenuate high-frequency torque fluctuations. SPARC provides an open-source platform for systematic studies of spine compliance in legged locomotion. Available at: github.com/YueWang996/sparc
