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.
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Khoramshahi, M., Sprowitz, A., Tuleu, A., Ahmadabadi, M. N., & Ijspeert, A. (2013). Benefits of an Active Spine Supported Bounding Locomotion With a Small Compliant Quadruped Robot. Proceedings of 2013 IEEE International Conference on Robotics and Automation, 3329–3334. https://doi.org/10.1109/ICRA.2013.6631041
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