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dc.contributor.authorÇulha, Utkuen_US
dc.contributor.authorSaranlı, Uluçen_US
dc.coverage.spatialShanghai, Chinaen_US
dc.date.accessioned2016-02-08T12:16:17Z
dc.date.available2016-02-08T12:16:17Z
dc.date.issued2011en_US
dc.identifier.urihttp://hdl.handle.net/11693/28284
dc.descriptionDate of Conference: 9-13 May 2011en_US
dc.description.abstractMost legged vertebrates use flexible spines and supporting muscles to provide auxiliary power and dexterity for dynamic behaviors, resulting in higher speeds and additional maneuverability during locomotion. However, most existing legged robots capable of dynamic locomotion incorporate only a single rigid trunk with actuation limited to legs and associated joints. In this paper, we investigate how quadrupedal bounding can be achieved in the presence of an actuated spinal joint and characterize associated performance improvements compared to bounding with a rigid robot body. In the context of both a new controller structure for bounding with a body joint and existing bounding controllers for the rigid trunk, we use optimization methods to identify the highest performance gait parameters and establish that the spinal joint allows increased forward speeds and hopping heights. © 2011 IEEE.en_US
dc.language.isoEnglishen_US
dc.source.title2011 IEEE International Conference on Robotics and Automationen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/ICRA.2011.5980176en_US
dc.subjectAuxiliary poweren_US
dc.subjectController structuresen_US
dc.subjectDynamic behaviorsen_US
dc.subjectForward speeden_US
dc.subjectGait parametersen_US
dc.subjectLegged robotsen_US
dc.subjectOptimization methoden_US
dc.subjectPerformance improvementsen_US
dc.subjectRigid robotsen_US
dc.subjectRoboticsen_US
dc.titleQuadrupedal bounding with an actuated spinal jointen_US
dc.typeConference Paperen_US
dc.departmentDepartment of Computer Engineeringen_US
dc.citation.spage1392en_US
dc.citation.epage1397en_US
dc.identifier.doi10.1109/ICRA.2011.5980176en_US
dc.publisherIEEEen_US


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