An application to measure static quadruped load distribution would be highly beneficial in the assessment of rehabilitation and lameness in many small animal patients. The scope of this study was to analyze the effects of confinement, location and local environment on the measurement of static quadruped load distribution as measured by the Quadruped Biofeedback System in normal dogs in order to...

In this paper, the roll and pitch dynamics of a biologically inspired quadruped water runner robot are analyzed, and a stable robot design is proposed and tested. The robot’s foot–water interaction force is derived using drag equations. Roll direction instability is attributed to a small roll moment of inertia and large instantaneous roll moments generated by the foot–water interaction forces. ...

Some imbalance and balance postures of a passive quadruped robot with a simplified mathematical model are studied. Through analyzing the influence of the touchdown angle of the rear leg on the posture of the trunk during the flight phase, the stability criterion is concluded: the closer are the two moments which are the zero time of the pitching angle and the peak time of the center of mass, th...

In this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were implemented in a modular, feed-forward locomotion controller. The controller was tested on a small, quadruped robot with compliant, segmented leg...

The leg structure with high dynamic stability can make the bionic biped robot have inherent conditions to perform elastic and highly motion. Compared quadruped robot, of is more complex has degrees freedom. This also complicates kinematic modeling. In this paper, kinematics model a established. configuration series parallel hybrid mechanism five active joints six passive joints. spring mass tha...

[Purpose] This study investigated the deltoid muscle activation during shoulder flexion exercise in various weight-bearing positions. [Subjects] A total of 15 males participated. [Methods] The participants completed three repetitions of shoulder flexion exercises in three positions (prone-on-elbow, quadruped, and standing) with electromyography activity being collected from the exercised. The m...

The structural framework of quadruped robot was built based on the bionics. Then, lead out the dynamic equations of the simplified structure of the multiple rigid body system using Lagrange method considering the structural characteristic of quadruped robot. At the same time, the virtual prototype of quadruped robot was established and simulated using ADAMS with the planned gait. The simulation...

Introduction Within the field of quadruped robot research, much focus has been put on design of leg compliance and leg configuration [1, 2, 3, 4], and controller design [5]. Typically, design goals include robot speed, cost of transport, robustness against perturbations, and range of available speeds. Recently, research has started mimicking the spine of quadruped animals, both in the frontal a...

In this article, the method for increasing dynamic stability of quadruped robot is proposed. Previous researches on dynamic walking of quadruped robots have used only walking pattern called central pattern generator (CPG). In this research, different from walking generation with only CPG, a instinctive stability measure called landing accordance ratio, is proposed and used for increasing dynami...

In this paper, a new biomimetic control method for a quadruped walking robot is proposed. The method is derived by the observation of the gravity load receptor and stimulusreaction mechanism of quadrupeds’ locomotion, and the study of the stances on walking and energy efficiency. Though the controller is simple, it provides a useful framework for controlling a quadruped walking robot. In partic...