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  4. Comparing the effect of different spine and leg designs for a small bounding quadruped robot
 
conference paper

Comparing the effect of different spine and leg designs for a small bounding quadruped robot

Eckert, Peter  
•
Spröwitz, Alexander  
•
Witte, Hartmut
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2015
Proceedings of ICRA 2015
ICRA 2015

We present Lynx-robot, a quadruped, modular, compliant machine. It alternately features a directly actuated, single-joint spine design, or an actively supported, passive compliant, multi-joint spine configuration. Both spine con- figurations bend in the sagittal plane. This study aims at characterizing these two, largely different spine concepts, for a bounding gait of a robot with a three segmented, pantograph leg design. An earlier, similar-sized, bounding, quadruped robot named Bobcat with a two-segment leg design and a directly actuated, single-joint spine design serves as a comparison robot, to study and compare the effect of the leg design on speed,while keeping the spine design fixed. Both proposed spine designs (single rotatory and active and multi-joint compliant) reach moderate, self-stable speeds

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1798.pdf

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Preprint

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http://purl.org/coar/version/c_71e4c1898caa6e32

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openaccess

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2.48 MB

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Adobe PDF

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