Passive compliant quadruped robot using central pattern generators for locomotion control

2008

Conference Paper

dlg

We present a new quadruped robot, “Cheetah”, featuring three-segment pantographic legs with passive compliant knee joints. Each leg has two degrees of freedom - knee and hip joint can be actuated using proximal mounted RC servo motors, force transmission to the knee is achieved by means of a Bowden cable mechanism. Simple electronics to command the actuators from a desktop computer have been designed in order to test the robot. A Central Pattern Generator (CPG) network has been implemented to generate different gaits. A parameter space search was performed and tested on the robot to optimize forward velocity.

@inproceedings{escidoc:2316392,
  title = {Passive compliant quadruped robot using central pattern generators for locomotion control},
  author = {Rutishauser, Simon and Spr{\"o}witz, Alexander and Righetti, Ludovic and Ijspeert, Auke Jan},
  booktitle = {Proceedings of the 2008 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics},
  pages = {710--715},
  publisher = {IEEE},
  address = {Scottsdale, AZ},
  year = {2008},
  doi = {10.1109/BIOROB.2008.4762878}
}