Title :
Benefits of an active spine supported bounding locomotion with a small compliant quadruped robot
Author :
Khoramshahi, Mahdi ; Sprowitz, A. ; Tuleu, A. ; Ahmadabadi, Majid Nili ; Ijspeert, Auke J.
Author_Institution :
Biorobotics Lab., EPFL, Lausanne, Switzerland
Abstract :
We studied the effect of the control of an active spine versus a fixed spine, on a quadruped robot running in bound gait. Active spine supported actuation led to faster locomotion, with less foot sliding on the ground, and a higher stability to go straight forward. However, we did no observe an improvement of cost of transport of the spine-actuated, faster robot system compared to the rigid spine.
Keywords :
compliant mechanisms; mobile robots; stability; active spine supported actuation; active spine supported bounding locomotion; bound gait; fixed spine supported bounding locomotion; foot sliding; small compliant quadruped robot; stability; transport cost; Hafnium compounds; Hip;
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
Print_ISBN :
978-1-4673-5641-1
DOI :
10.1109/ICRA.2013.6631041
