In this paper, we study the passive dynamics of quadrupedal bounding, based on a simplified model of our Scout II quadruped robot. Surprisingly, numerical return map studies reveal that passive generation of a large variety of cyclic bounding motion is possible. Most strikingly, local stability analysis shows that the dynamics of the open loop passive system alone can confer stability of the mo...

A locking, unactuated knee is added to the Scout II quadruped robot and trotting gaits are studied. The mechanical design of the knee is presented, trotting algorithms are discussed, and a control approach for a robotic leg with an unactuated knee is developed. A model of a single leg is used to determine appropriate leg trajectory parameters and initial conditions to achieve trots. The single ...

It is very important for quadruped walking machine to keep its stability in high speed walking. It has been indicated that moment around the supporting diagonal line of quadruped in trotting gait largely influences walking stability. In this paper, moment around the supporting diagonal line of quadruped in trotting gait is modeled and its effects on body attitude are analyzed. The degree of inf...

This paper presents a technology that enables an untrained user to draw and animate a quadruped in tens of seconds. The system recognizes a quadruped drawn by a user and creates a skeleton from the sketch. Following a few simple rules the user is able to draw the movement she wants the quadruped to do. The system will parse the sketch and interpret it to let the quadruped walk, jump, trot, gall...

This paper presents a multipart pronking/ bounding controller for a quadruped robot, as well as the corresponding experimental results. The controller achieves given apex height and forward velocity in a quadruped robot with only one actuator per leg. A quadruped is designed and built and described in some detail. Experimental results obtained using internal sensors and highspeed camera caption...

Animals demonstrate a level of agility currently unmatched in their robotic counterparts. The elasticity of muscles and tendons increase not only performance, but also the efficiency of movements. In contrast, robots are often constructed with rigid components connected by motors. However, recently compliant actuators and materials have been introduced to enhance robot designs, emulating the fl...

Discriminating or classifying different terrains is an important ability for every autonomousmobile robot. A variety of sensors, preprocessing techniques, and algorithms in different robots were applied. However, little attentionwas paid to theway sensory datawas generated and to the contribution of different sensory modalities. In this work, a quadruped robot traversing different grounds using...