Passive compliant quadruped robot using central pattern generators for locomotion control
Rutishauser, Simon; Sproewitz, Alexander; Righetti, Ludovic; Ijspeert, Auke Jan
2008

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Abstract

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

Details

Title Passive compliant quadruped robot using central pattern generators for locomotion control
Author(s) Rutishauser, Simon ; Sproewitz, Alexander ; Righetti, Ludovic ; Ijspeert, Auke Jan
Published in 2008 IEEE International Conference on Biomedical Robotics and Biomechatronics
Pages 710-715
Conference International Conference on Biomedical Robotics and Biomechatronics, Scottsdale, October 19-22, 2008
Date 2008
DOI https://doi.org/10.1109/BIOROB.2008.4762878
Other identifier(s) View record in Web of Science
Laboratories BIOROB
Record Appears in Scientific production and competences > STI - School of Engineering > IBI-STI - Interfaculty Institute of Bioengineering > BIOROB - Biorobotics Laboratory
Peer-reviewed publications
Conference Papers
Work produced at EPFL
Published
Record creation date 2009-01-07

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