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

• Presented at: ICRA 2015, Seattle, Washington, USA, May 26-30, 2015
• Published in: Proceedings of ICRA 2015, p. 3128-3133
• Publication date: 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

Keywords: quadruped robot ; bounding robot

Reference

• EPFL-CONF-208861
• doi:10.1109/ICRA.2015.7139629

Record created on 2015-06-10, modified on 2017-05-10