Title :
Stable running in a quadruped robot with compliant legs
Author :
Papadopoulos, Didier ; Buehler, Martin
Author_Institution :
Center for Intelligent Machines, McGill Univ., Montreal, Que., Canada
Abstract :
We have constructed an autonomous quadruped, Scout II, which features only a hip actuator and a passive compliant prismatic joint per leg. In this paper we demonstrate in simulation the control of stable running via two control strategies. One of them is verified experimentally on Scout II at a running speed near 1.2 m/s. The simulation model is verified experimentally
Keywords :
compliance control; legged locomotion; stability; 1.2 m/s; Scout II; compliant legs; hip actuator; passive compliant prismatic joint; quadruped robot; stable running; Hip; Intelligent actuators; Intelligent robots; Knee; Leg; Legged locomotion; Open loop systems; Oscillators; Robust stability; Velocity control;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844095
