On Passive Quadrupedal Bounding with Flexible Linear Torso
نویسندگان
چکیده
Received: March 20, 2015. Received in revised form: July 31, 2015. Accepted: August 28, 2015. This paper studies the effect of flexible linear torso on the dynamics of passive quadruped bounding. A reduced-order passive and conservative model with linear flexible torso and springy legs is introduced. The model features extensive spine deformation during high-speed bounding, resembling those observed in a cheetah. Fixed points corresponding to cyclic bounding motions are found and calculated using numerical return map methodologies. Results show that the corresponding robot gaits and the associated performance resemble those of its natural counterparts.
منابع مشابه
On Passive Quadrupedal Bounding with Flexible Linear Torso
This paper studies the effect of flexible linear torso on the dynamics of passive quadruped bounding. A reduced-order passive and conservative model with linear flexible torso and springy legs is introduced. The model features extensive spine deformation during high-speed bounding, resembling those observed in a cheetah. Fixed points corresponding to cyclic bounding motions are found and calcul...
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