Quadrupedal bounding with an actuated spinal joint

Date
2011
Advisor
Instructor
Source Title
2011 IEEE International Conference on Robotics and Automation
Print ISSN
Electronic ISSN
Publisher
IEEE
Volume
Issue
Pages
1392 - 1397
Language
English
Type
Conference Paper
Journal Title
Journal ISSN
Volume Title
Abstract

Most 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.

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Book Title
Keywords
Auxiliary power, Controller structures, Dynamic behaviors, Forward speed, Gait parameters, Legged robots, Optimization method, Performance improvements, Rigid robots, Robotics
Citation
Published Version (Please cite this version)