Development of a compliant legged quadruped robot
نویسندگان
چکیده
منابع مشابه
Self-organized adaptive legged locomotion in a compliant quadruped robot
In this contribution we present experiments of an adaptive locomotion controller on a compliant quadruped robot. The adaptive controller consists of adaptive frequency oscillators in different configurations and produces dynamic gaits such as bounding and jumping. We show two main results: (1) The adaptive controller is able to track the resonant frequency of the robot which is a function of di...
متن کاملDynamic Modeling and Simulation of Compliant Legged Quadruped Robot
Quadruped robot has many advantages over wheeled mobile robots, but it is a discrete system in which joints of each leg has to operate in particular fashion to get the desired locomotion. So, dynamics plays an important role in the operation and control of quadruped robot. Proper conception of the dynamic formulation is must for the complex system like quadruped robot. Here, an attempt is made ...
متن کاملLearning Compliant Locomotion on a Quadruped Robot
Over the last decades, compliant locomotion and manipulation have become a very active field of research, due to the versatility that robots with such capabilities would offer in many applications. With very few exceptions, generally, robotic applications and experiments take place in controlled environments. One of the reasons of this limited use is that in real world scenarios, robots need to...
متن کاملCompliant Leg Design for a Quadruped Robot
malian animals, i.e. that of a cat. It was also influenced by the spring-mass model representation [2]. Compliant prismatic legs show an intrinsic robustness for their angle of attack [2], they have a stability region. If the leg design is changed into a two segmented leg with a specific linear torsional spring, the leg stiffness kleg becomes nonlinear (Fig. 2(b) blue line), similar to that of ...
متن کاملDynamic Compliant Walking of a Quadruped Robot: Preliminary Experiments
To increase reliability and decrease cost of legged robotic systems it is advantageous to limit actuated degrees of freedom and instead exploit passive elements, such as springs, to provide compliance. Although literature exists on the design and dynamical control of running gaits for such robotic systems, no work exists for slower modes of locomotion such as walking. This paper presents a walk...
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ژورنال
عنوان ژورنال: Sādhanā
سال: 2018
ISSN: 0256-2499,0973-7677
DOI: 10.1007/s12046-018-0918-7