Gait Programming of Quadruped Bionic Robot

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...

Locomotion Gait Optimization for a Quadruped Robot

Legged robot gait generation is a challenging task that involves the control of a large number of degrees of freedom (DOF’s) within a mechanical structure that varies during locomotion. A large number of motion parameters have to be considered in order to obtain a stable, natural and efficient locomotion. Legged robot locomotion applies nonlinear dynamical equations of high order with a multidi...

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...

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...