Breaking speed scaling in quadrupedal robots via Huygens' coupled-pendulum dynamics

2026-09-09

AI Summary

研究通过利用Huygens耦合摆原理，重新分配四肢间的能量，减少快速运动所需的峰值关节扭矩，从而提高四足机器人速度，而无需成比例增加驱动器能力。

Abstract

Achieving biological-level running speeds has largely been pursued through advances in control algorithms, which improve the utilization of existing hardware. However, the ultimate speed limits remain governed by the underlying force and torque requirements of rapid locomotion, which are typically addressed through increased actuator capacity. Inspired by Huygens' coupled pendulums, we demonstrate that superior locomotion can emerge from principled exploitation of intrinsic dynamics rather than brute-force hardware scaling. Inter-limb inertial coupling redistributes energy across the gait cycle and reduces peak joint torque required for rapid periodic motion, thereby expanding the achievable speed without proportional increases in actuator capability. Incorporating hardware parameters as additional design variables further extends this analysis into a co-optimization framework, enabling the systematic utilization of inertial coupling in robot design. Guided by this framework, a quadruped robot achieves a running speed of 10.74 m/s (Froude number 21.4) and completes a 100-meter sprint in 12.2 seconds, representing the first legged robot to surpass 10 m/s. These results establish inertial coupling as an underlying mechanism governing high-speed legged locomotion and highlight its role in reducing force requirements, offering new insights into the design of agile robotic systems.

Problem

• quadrupedal robots
• speed limits
• force and torque requirements
• inertial coupling

Innovation

• Huygens' coupled pendulums
• inertial coupling
• co-optimization framework
• peak joint torque reduction