Benefits of an Active Spine Supported Bounding Locomotion With a Small Compliant Quadruped Robot

Khoramshahi, MahdiSprowitz, AlexanderTuleu, AlexandreAhmadabadi, M. N.Ijspeert, Auke2013-04-302013-04-302013-04-30201310.1109/ICRA.2013.6631041https://infoscience.epfl.ch/handle/20.500.14299/91878We 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.quadruped robotactive spinebounding-gaitCPGBenefits of an Active Spine Supported Bounding Locomotion With a Small Compliant Quadruped Robottext::conference output::conference proceedings::conference paper