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  4. Benefits of an Active Spine Supported Bounding Locomotion With a Small Compliant Quadruped Robot
 
conference paper

Benefits of an Active Spine Supported Bounding Locomotion With a Small Compliant Quadruped Robot

Khoramshahi, Mahdi  
•
Sprowitz, Alexander  
•
Tuleu, Alexandre  
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2013
Proceedings of 2013 IEEE International Conference on Robotics and Automation
2013 IEEE International Conference on Robotics and Automation

We studied the effect of the control of an active spine versus a fixed spine, on a quadruped robot run- ning 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.

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Type
conference paper
DOI
10.1109/ICRA.2013.6631041
Author(s)
Khoramshahi, Mahdi  
Sprowitz, Alexander  
Tuleu, Alexandre  
Ahmadabadi, M. N.
Ijspeert, Auke  
Date Issued

2013

Published in
Proceedings of 2013 IEEE International Conference on Robotics and Automation
Start page

3329

End page

3334

Subjects

quadruped robot

•

active spine

•

bounding-gait

•

CPG

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
BIOROB  
Event nameEvent placeEvent date
2013 IEEE International Conference on Robotics and Automation

Karlsruhe, Germany

May 6 - 10, 2013

Available on Infoscience
April 30, 2013
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/91878
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