000130727 001__ 130727
000130727 005__ 20190812205248.0
000130727 02470 $$2ISI$$a000270540400133
000130727 037__ $$aCONF
000130727 245__ $$aPassive compliant quadruped robot using central pattern generators for locomotion control
000130727 260__ $$c2008
000130727 269__ $$a2008
000130727 336__ $$aConference Papers
000130727 520__ $$aWe 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
000130727 700__ $$aRutishauser, Simon
000130727 700__ $$0240378$$g173229$$aSproewitz, Alexander
000130727 700__ $$0241362$$g128669$$aRighetti, Ludovic
000130727 700__ $$aIjspeert, Auke Jan$$g115955$$0241344
000130727 7112_ $$dOctober 19-22, 2008$$cScottsdale$$aInternational Conference on Biomedical Robotics and Biomechatronics
000130727 773__ $$t2008 IEEE International Conference on Biomedical Robotics and Biomechatronics
000130727 8564_ $$zURL
000130727 8564_ $$zn/a$$uhttps://infoscience.epfl.ch/record/130727/files/sRutishauser08.pdf$$s645017
000130727 909C0 $$xU12165$$pBIOROB$$0252049
000130727 909CO $$ooai:infoscience.tind.io:130727$$qGLOBAL_SET$$pconf$$pSTI
000130727 937__ $$aBIOROB-CONF-2008-008
000130727 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000130727 980__ $$aCONF