DocumentCode
3523060
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
fYear
2013
fDate
6-10 May 2013
Firstpage
3329
Lastpage
3334
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location
Karlsruhe
ISSN
1050-4729
Print_ISBN
978-1-4673-5641-1
Type
conf
DOI
10.1109/ICRA.2013.6631041
Filename
6631041
Link To Document