Passive compliant quadruped robot using central pattern generators for locomotion control

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

Published in:
2008 IEEE International Conference on Biomedical Robotics and Biomechatronics
Presented at:
International Conference on Biomedical Robotics and Biomechatronics, Scottsdale, October 19-22, 2008

 Record created 2009-01-07, last modified 2018-01-28

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