Title :
SCOUT: a simple quadruped that walks, climbs, and runs
Author :
Buehler, M. ; Battaglia, R. ; Cocosco, A. ; Hawker, G. ; Sarkis, J. ; Yamazaki, Kinya
Author_Institution :
McGill Res. Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada
Abstract :
A simple mechanical design for quadrupedal locomotion, termed SCOUT, is proposed, featuring only one degree of freedom per leg. The paper demonstrates experimentally that our first prototype SCOUT-1 is capable of walking, turning, and climbing over a step, despite its mechanical simplicity. The underlying principle is dynamic operation, based on controlled momentum transfer. Simulations show successful walking, stair climbing and running
Keywords :
legged locomotion; momentum; robot dynamics; robot kinematics; SCOUT; SCOUT-1; climbing; controlled momentum transfer; dynamic operation; mechanical design; quadruped; quadrupedal locomotion; turning; walking; Hip; Land vehicles; Leg; Legged locomotion; Mobile robots; Prototypes; Scholarships; Turning; Vehicle dynamics; Web pages;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677408
