Development of Horse-Type Quadruped Robot. 2nd Report. Experiments of Trot Gait by Quadruped Robot PONY.

Trot Gait Locomotion of a Cat Sized Quadruped Robot

[5] Ludovic Righetti and Auke Jan Ijspeert. Quadruped locomotion: from infants crawling to the design of pattern generators for quadruped robots. In AMAM 2008 abstracts, pages 90–91, 2008. Acknowledgments The research leading to these results has received funding from the European Communitys Seventh Framework Programme FP7/2007-2013-Challenge 2-Cognitive Systems, Interaction, Robotics-under gra...

Combination of Transverse-Trot Gait Pattern for Quadruped Walking Robot

This paper presents a combination of transverse and trot walking pattern technique for hexa-quad robot after transformation to optimize the multi-legged robot operation and walking performances. Due to the limitation on the stability of hexapod robot, the combination of hexa-quad walking sequence is proposed to stabilize the quadruped configuration and walking modes. Quadruped robot configurati...

Towards dynamic trot gait locomotion: Design, control, and experiments with Cheetah-cub, a compliant quadruped robot

We present the design of a novel compliant quadruped robot: Cheetahcub, and a series of locomotion experiments with fast trotting gaits. The robot’s leg configuration is based on a spring-loaded, pantograph mechanism with multiple segments. A dedicated open loop locomotion controller was derived and implemented. Experiments were run in simulation and in hardware on flat terrain and with a step-...

Gait Adaptation in a Quadruped Robot

Quadruped Robot Running With a Bounding Gait

Scout II, an autonomous four-legged robot with only one actuator per compliant leg is described. We demonstrate the need to model the actuators and the power source of the robot system carefully in order to obtain experimentally valid models for simulation and analysis. We describe a new, simple running controller that requires minimal task level feedback, yet achieves reliable and fast running...