000208861 001__ 208861
000208861 005__ 20190812205834.0
000208861 0247_ $$2doi$$a10.1109/ICRA.2015.7139629
000208861 037__ $$aCONF
000208861 245__ $$aComparing the effect of different spine and leg designs for a small bounding quadruped robot
000208861 269__ $$a2015
000208861 260__ $$c2015
000208861 336__ $$aConference Papers
000208861 520__ $$aWe 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
000208861 6531_ $$aquadruped robot
000208861 6531_ $$abounding robot
000208861 700__ $$0247749$$g221441$$aEckert, Peter
000208861 700__ $$0240378$$g173229$$aSpröwitz, Alexander
000208861 700__ $$aWitte, Hartmut
000208861 700__ $$aIjspeert, Auke$$g115955$$0241344
000208861 7112_ $$dMay 26-30, 2015$$cSeattle, Washington, USA$$aICRA 2015
000208861 773__ $$tProceedings of ICRA 2015$$q3128-3133
000208861 8564_ $$zPreprint$$yPreprint$$uhttps://infoscience.epfl.ch/record/208861/files/1798.pdf$$s2605405
000208861 909C0 $$xU12165$$pBIOROB$$0252049
000208861 909CO $$ooai:infoscience.tind.io:208861$$qGLOBAL_SET$$pconf$$pSTI
000208861 917Z8 $$x173229
000208861 917Z8 $$x221441
000208861 937__ $$aEPFL-CONF-208861
000208861 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000208861 980__ $$aCONF