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2015


Comparing the effect of different spine and leg designs for a small bounding quadruped robot
Comparing the effect of different spine and leg designs for a small bounding quadruped robot

Eckert, P., Spröwitz, A., Witte, H., Ijspeert, A. J.

In Proceedings of ICRA, pages: 3128-3133, Seattle, Washington, USA, 2015 (inproceedings)

Abstract
We present Lynx-robot, a quadruped, modular, compliant machine. It alternately features a directly actuated, single-joint spine design, or an actively supported, passive compliant, multi-joint spine configuration. Both spine con- figurations bend in the sagittal plane. This study aims at characterizing these two, largely different spine concepts, for a bounding gait of a robot with a three segmented, pantograph leg design. An earlier, similar-sized, bounding, quadruped robot named Bobcat with a two-segment leg design and a directly actuated, single-joint spine design serves as a comparison robot, to study and compare the effect of the leg design on speed, while keeping the spine design fixed. Both proposed spine designs (single rotatory and active and multi-joint compliant) reach moderate, self-stable speeds.

link (url) DOI Project Page [BibTex]

2015

link (url) DOI Project Page [BibTex]