SCOUT: A Simple Quadruped that Walks, Climbs and Runs

نویسندگان

  • Martin Buehler
  • R. Battaglia
  • A. Cocosco
  • Geoff Hawker
  • J. Sarkis
  • K. Yamazaki
چکیده

M. Buehler, R. Battaglia, A. Cocosco, G. Hawker, J. Sarkis, K. Yamazaki. Centre for Intelligent Machines, McGill University, Montr eal, QC H3A 2A7, Canada Abstract A simple mechanical design for quadrupedal locomotion, termed SCOUT, is proposed, featuring only one degree of freedom per leg. This paper demonstrates experimentally that our rst prototype SCOUT-1 is capable of walking, turning, and climbing over a step, despite its mechanical simplicity. The underlying principle is dynamic operation, based on controlled momentum transfer. Simulations show successful walking, stair climbing and running. Figure 1: SCOUT-1

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تاریخ انتشار 1998