Cam Drive Step Mechanism of a Quadruped Robot

Dynamics modeling and stable gait planning of a quadruped robot in walking over uneven terrains

Quadruped robots have unique capabilities for motion over uneven natural environments. This article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. First, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-DOF quadruped robot. Thereafter, an inverse-dynamics...

Development of a Biomimetic Quadruped Robot

This paper presents the design and prototype of a small quadruped robot whose walking motion is realized by two piezocomposite actuators. In the design, biomimetic ideas are employed to obtain the agility of motions and sustainability of a heavy load. The design of the robot legs is inspired by the leg configuration of insects, two joints (hip and knee) of the leg enable two basic motions, lift...

Adaptive Locomotion Controller for a Quadruped Robot Step 2 : Existing Models and Controllers Simon Ruffieux

Towards Dynamic Step Climbing For A Quadruped Robot with Compliant Legs

Animals are capable of breathtaking dynamic rough terrain mobility – far superior to that of any existing wheeled, tracked or legged robot. Our research aims to endow our legged robots with increasingly capable dynamic abilities. In this paper, we are presenting a controller that expands the rough terrain abilities of our four-legged robot, Scout II, to dynamic step climbing. Dynamic step climb...

Motor Control System for a Quadruped Robot

Difficulty: The motor control system in humans and animals is not completely understood. It is not clear what the functions of each of the organs used are and how the parts interact with each other. Therefore, it is difficult to try to implement an animal-like motor control system. Additionally, the actuators that the humans and animals use are completely different from the ones used by robots....