The problem of walking simulation for the quadruped search robot on a slope is described as an uncertainty system. In order to create the virtual ramp road environment, VRMLmodeling language is used to build a real environment, which is a 3D terrain scene in Matlab platform. According to the VRML model structure of the quadruped search robot, a guaranteed cost nonfragile robust controller is de...

The project which we have performed is based on voice recognition and we desire to create a four legged robot that can acknowledge the given instructions which are given through vocal commands and perform the tasks. The main processing unit of the robot will be Arduino Uno. We are using 8 servos for the movement of its legs while two servos will be required for each leg. The interface between a...

In this project, I aim to design and experiment with a controller for quadruped walking gait in a physics based simulation. A simplified and articulated dog model was designed with realistic dimensions. The controller is based on a finite state machine, where each state represents a target pose in the gait cycle. A simple balancing strategy was implemented.

This paper presents a new dynamic walking controllers for quadrupedal robots with compliant legs. The algorithm implements a "walking bound" gait, (running bound without ight phase), requires only one actuator per leg at the hip, and commands a constant hip velocity during stance. The algorithm has been implemented successfully on our Scout II quadruped robot and has yielded stable walking for ...

An animation system entitled CAT (Cat Animation Tool) has been developed to explore an alternative workflow for novice animation, specifically focusing on quadruped animation. The system adds 3D interaction to the traditional animation pipeline with the intent of easing authoring and thereby widening the authoring audience. Users initially create high-level locomotion by specifying a 3D input c...

We describe the design, construction and control of a quadruped robot which walks on uneven terrain. A control system which produces a statically stable gait has been implemented; results showing a straight and turning gait are presented. The control of quadruped robots poses interesting challenges due to a small stability margin (when compared to hexapods for example). For this reason most imp...

[5] Ludovic Righetti and Auke Jan Ijspeert. Quadruped locomotion: from infants crawling to the design of pattern generators for quadruped robots. In AMAM 2008 abstracts, pages 90–91, 2008. Acknowledgments The research leading to these results has received funding from the European Communitys Seventh Framework Programme FP7/2007-2013-Challenge 2-Cognitive Systems, Interaction, Robotics-under gra...

We describe here the efforts to induce a quadruped robot to walk with medium-walking speed on irregular terrain based on biological concepts. We propose the necessary conditions for stable dynamic walking on irregular terrain in general, and we design the mechanical and the neural systems by comparing biological concepts with those necessary conditions described in physical terms. PD-controller...