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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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