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Dynamic Locomotion Conference Paper 2015

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

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Dynamic Locomotion, Haptische Intelligenz
Alexander Badri-Spröwitz
Senior Research Scientist
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Autonomous Motion
Auke Ijspeert
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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.

Author(s): Eckert, Peter and Spröwitz, Alexander and Witte, Hartmut and Ijspeert, Auke Jan
Book Title: Proceedings of ICRA
Pages: 3128--3133
Year: 2015
Bibtex Type: Conference Paper (inproceedings)
Address: Seattle, Washington, USA
DOI: 10.1109/ICRA.2015.7139629
State: Published
URL: http://ieeexplore.ieee.org/abstract/document/7139629/
Electronic Archiving: grant_archive

BibTex 

@inproceedings{eckert_comparing_2015,
  title = {Comparing the effect of different spine and leg designs for a small bounding quadruped robot},
  booktitle = {Proceedings of {ICRA}},
  abstract = {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.},
  pages = {3128--3133},
  address = {Seattle, Washington, USA},
  year = {2015},
  slug = {eckert_comparing_2015},
  author = {Eckert, Peter and Spr{\"o}witz, Alexander and Witte, Hartmut and {Ijspeert, Auke Jan}},
  url = {http://ieeexplore.ieee.org/abstract/document/7139629/}
}