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About this paper
Yucheng Tao, Yongbin Jin, Shaowen Cheng, Xianwei Liu, Yanyan Yuan, Yanhong Liang, Chengkai Su, Chaojie Fu and 3 more
A hardware–trajectory co-optimization framework shows how coordinated inter-limb inertia can assist high-speed quadrupedal running instead of being treated solely as a load. The resulting 36 kg BP2 robot reaches 10.74 m/s outdoors, 13.2 m/s on a treadmill, and completes 100 m in 12.2 s, although acceleration and actuator heating remain limiting factors.
Key insights
- Inter-limb inertial coupling can passively redistribute energy and contribute to the torque needed for periodic running, particularly as speed increases and Coriolis and centrifugal effects become large.
- At 10 m/s, modeled inertial contributions reach roughly 1.19 times the gravitational load, with a representative hip inertial torque of about 250 N·m—approximately 2.5 times the motor peak torque.
- The framework does not directly maximize coupling; it allows coupling to emerge as part of dynamically feasible solutions that reduce active actuator loading under hardware and contact constraints.
Summary by alphaXiv.
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