Quadruped robot has many advantages over wheeled mobile robots, but it is a discrete system in which joints of each leg has to operate in particular fashion to get the desired locomotion. So, dynamics plays an important role in the operation and control of quadruped robot. Proper conception of the dynamic formulation is must for the complex system like quadruped robot. Here, an attempt is made ...

In this paper, we discuss development of a sprawling-type quadruped robot named TITAN-XIII which is capable of high speed and energy efficient walking. We consider a sprawling-type quadruped robot is practical, because of its high stability which comes from the large supporting leg polygon and the low center of gravity. However in previous researches, the speed and the energy efficiency of a sp...

The experts of animal locomotion well know the characteristics of quadruped walking since the pioneering work of Eadweard Muybridge in the 1880s. Most of the quadrupeds advance their legs in the same lateral sequence when walking, and only the timing of their supporting feet differ more or less. How did this scientific knowledge influence the correctness of quadruped walking depictions in the f...

In order to obtain the optimal structure parameters of a quadruped robot, in this paper, a four-legged mammal (dog) is used as a model, and a quadruped robot configuration framework is set up by simplification of the model’s structure. In addition, the kinematics model of this robot is established. Based on the analysis of quadruped robot's kinematics characteristics, and taking the flexibility...

A fault-tolerant gait planning of a quadruped robot is presented. The considered robot has static walking and suffers from a locked joint failure. Especially, the quadruped robot is equipped with the moving appendage onto the body. By controlling the moving appendage, the robot can adjust the effective position of the center of gravity. Incorporating the adjustment of the moving appendage along...

Leg compliance, gravity and ground have a significant impact on the performance and gait characteristics of a quadruped robot. This paper presents results obtained using a planar lumped parameter model of a quadruped robot and an extensive research scheme to determine optimum design parameters for a quadruped moving in different gravity environments. Hildebrand diagrams are used to classify qua...

In this paper, optimal cyclic reference trajectories are designed for three gaits of a quadruped robot, the curvet, the amble, and the trot, taking into account the actuators characteristics. The gaits are composed of stance phases and instantaneous double supports. The principle of virtual leg is used to obtain simpler dynamic model describing the motion of the quadruped. The impact phases are...

The symptom/clinical sign of spasticity constitutes a negative factor when considering FNR for both the quadruped animal and the human biped. The existence of multidisciplinary protocols, based on neuroscience, is essential for patients to develop a coordinated motor function. Thus, a multi-modal approach to spastic movement disorder is required. In the quadruped animal an association between t...