000209322 001__ 209322
000209322 005__ 20190416220323.0
000209322 037__ $$aPOST_TALK
000209322 245__ $$aCheetah-cub-S: Steering of a Quadruped Robot using Trunk Motion
000209322 269__ $$a2015
000209322 260__ $$c2015
000209322 336__ $$aPosters
000209322 520__ $$aIn Cheetah-cub-S we realized an efficiant concept by implementing a spine-like structure with one DoF into a quadruped, modular and mobile platform. We increased maneuverability dramatically compared to a robot with rigid spine, while keeping controlling effort low by using intelligent mechanics. Therefore, it is possible to steer via trunk motion without changing the gait or corresponding parameters. The robot weights 1160 g at 0.1 m (height), 0.105 m (width) and 0.205 m (length). Based on qualitative tests, it is able to run 0.36 m/s and turn within a radius of 0.51 m (equivalent to 2.48 body lengths) at 0.31 m/s (equivalent to 34/s). Furthermore, we could steer the quadruped around three objects in a 7.13 m (23 s at 0.31 m/s) slalom within our test area. Due to its modularity, Cheetah-cub-S is a versatile mobile platform and components such as the spine segment, legs, motors or steering mechanism can be exchanged.
000209322 6531_ $$aQuadruped
000209322 6531_ $$abio-inspired
000209322 6531_ $$aspine
000209322 6531_ $$asteering
000209322 700__ $$aWeinmeister, Karl
000209322 700__ $$0247749$$g221441$$aEckert, Peter
000209322 700__ $$aWitte, Hartmut
000209322 700__ $$aIjspeert, Auke$$g115955$$0241344
000209322 7112_ $$dJune 21 - 25, 2015$$cCamebridge, Massachusetts, USA$$aAMAM 2015
000209322 8564_ $$uhttps://infoscience.epfl.ch/record/209322/files/Cheetah-Cub-S-AMAM2015.pdf$$zAbstract$$s842393$$yAbstract
000209322 8564_ $$uhttps://infoscience.epfl.ch/record/209322/files/PosterAMAM.pdf$$zPostprint$$s2289826$$yPostprint
000209322 909C0 $$xU12165$$0252049$$pBIOROB
000209322 909CO $$ooai:infoscience.tind.io:209322$$qGLOBAL_SET$$pSTI$$pposter
000209322 917Z8 $$x221441
000209322 937__ $$aEPFL-POSTER-209322
000209322 973__ $$aEPFL
000209322 980__ $$aPOSTER