This paper presents a new framework for the generation of high-speed running jumps to clear terrain obstacles in quadrupedal robots. Our methods enable the quadruped to autonomously jump over obstacles up to 40 cm in height within a single control framework. Specifically, we propose new control system components, layered on top of a low-level running controller, which actively modify the approa...

A procedural-animation-based approach which rapidly synthesize the adaptive locomotion for quadruped characters that they can walk or run in any directions on an uneven terrain within a dynamic environment was proposed. We devise practical motion models of the quadruped animals for adapting to a varied terrain in a real-time manner. While synthesizing locomotion, we choose the corresponding mot...

Walk can be classi ed as \static walk" and \dynamic walk". It is said that dynamic walk is superior in both speed and energy consumption. This paper describes how a quadruped robot should walk dynamically to realize these advantages. Such consideration is lacking in past research. In this paper, three criteria are introduced to evaluate the walk { `stability', `maximum speed' and `energy consum...

Foot bionic robot could be supported and towed through a series of discrete footholds adapted to rugged terrain attitude adjustment. The vibration isolation the decouple fuselage from foot-end trajectories, thus, walked smoothly even if in significant terrain. gait programming foot end trajectory algorithm were simulated. quadruped parallel five linkages with eight degrees freedom tested. kinem...

A bioinspired locomotion system for a quadruped robot is presented. Locomotion is achieved by a spiking neural network (SNN) that acts as a Central Pattern Generator (CPG) producing different locomotion patterns represented by their raster plots. To generate these patterns, the SNN is configured with specific parameters (synaptic weights and topologies), which were estimated by a metaheuristic ...

[Purpose] The purposes of this study were: 1) describe a hierarchy of electromyographic activity production, using percentage maximum voluntary contraction of lumbar iliocostalis and lumbar multifidus muscles during prone, quadruped and sitting exercises; and 2) identify optimal recruitment exercises for both lumbar iliocostalis as a global multi-segmental stabilizer and lumbar multifidus as a ...

Films like Shrek, Madagascar, The Chronicles of Narnia and Charlotte’s web all have something in common: realistic quadruped animations. While the animation of animals has been popular for a long time, the technical challenges associated with creating highly realistic, computer generated creatures have been receiving increasing attention recently. The entertainment, education and medical indust...