Oncilla Robot: A Versatile Open-Source Quadruped Research Robot With Compliant Pantograph Legs
نویسندگان
چکیده
منابع مشابه
Oncilla robot: a versatile open-source quadruped research robot with compliant pantograph legs
We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-cat sized, 5.1 kg robot is one of a kind of a recent, bioinspired legged robot class designed with the capability of model-free locomotion control. Animal legged locomotion in rough terrain is clearly shaped by sensor feedback systems. Results with Oncilla robot show that agile and versatile locomotion is ...
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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...
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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 ...
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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...
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ژورنال
عنوان ژورنال: Frontiers in Robotics and AI
سال: 2018
ISSN: 2296-9144
DOI: 10.3389/frobt.2018.00067