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

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.


Published in:
Proceedings of 2013 IEEE International Conference on Robotics and Automation
Presented at:
2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6 - 10, 2013
Year:
2013
Keywords:
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 Record created 2013-04-30, last modified 2018-03-17

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