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Benefits of an active spine supported bounding locomotion with a small compliant quadruped robot

2013

Conference Paper

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We studied the effect of the control of an active spine versus a fixed spine, on a quadruped robot running 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.

Author(s): Khoramshahi, Mahdi and Spröwitz, Alexander and Tuleu, Alexandre and Ahmadabadi, M. N. and Ijspeert, Auke Jan
Book Title: Robotics and Automation (ICRA), 2013 IEEE International Conference on
Pages: 3329--3334
Year: 2013
Month: May
Department(s): Dynamic Locomotion
Research Project(s): Quadruped research platform to evaluate bioinspired locomotion mechanisms
Bibtex Type: Conference Paper (inproceedings)
Paper Type: Conference
DOI: 10.1109/ICRA.2013.6631041
Event Place: Karlsruhe, Germany
Links: Youtube
Video:

BibTex 

@inproceedings{escidoc:2316250,
  title = {Benefits of an active spine supported bounding locomotion with a small compliant quadruped robot},
  author = {Khoramshahi, Mahdi and Spr{\"o}witz, Alexander and Tuleu, Alexandre and Ahmadabadi, M. N. and Ijspeert, Auke Jan},
  booktitle = {Robotics and Automation (ICRA), 2013 IEEE International Conference on},
  pages = {3329--3334},
  month = may,
  year = {2013},
  month_numeric = {5}
}