DocumentCode
2019984
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
Volume
1
fYear
2000
fDate
2000
Firstpage
444
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.844095
Filename
844095
Link To Document