SCOUT: A Simple Quadruped that Walks, Climbs and Runs
نویسندگان
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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