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conference paper
Benefits of an Active Spine Supported Bounding Locomotion With a Small Compliant Quadruped Robot
2013
Proceedings of 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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Name
ICRA13_0395-final.pdf
Access type
openaccess
Size
2.98 MB
Format
Adobe PDF
Checksum (MD5)
d6db8fdeea4cdbe5cd427d66bce5a544