نتایج جستجو برای: Passive quadruped

تعداد نتایج: 71346  

Journal: :international journal of robotics 0
evangelos papadopoulos department of mechanical engineering, national technical university of athens, athens, greece, 15780 konstantinos koutsoukis department of mechanical engineering, national technical university of athens, athens, greece, 15780

this paper studies the effect of flexible linear torso on the dynamics of passive quadruped bounding. a reduced-order passive and conservative model with linear flexible torso and springy legs is introduced. the model features extensive spine deformation during high-speed bounding, resembling those observed in a cheetah. fixed points corresponding to cyclic bounding motions are found and calcul...

Evangelos Papadopoulos, Konstantinos Koutsoukis

This paper studies the effect of flexible linear torso on the dynamics of passive quadruped bounding. A reduced-order passive and conservative model with linear flexible torso and springy legs is introduced. The model features extensive spine deformation during high-speed bounding, resembling those observed in a cheetah. Fixed points corresponding to cyclic bounding motions are found and calcul...

Journal: :International Robotics & Automation Journal 2017

2008
Panagiotis Chatzakos Evangelos Papadopoulos

This paper attempts to set the basis for a systematic approach in designing quadruped robots employing a dynamically stable quadruped running in the sagittal plane with a bounding gait, which is a simple model commonly used to analyze the basic qualitative properties of quadruped gaits that use the legs in pair. The outcome of the proposed methodology is the optimal shape of the bounding quadru...

2014
Lerrel Joseph Pinto Shreeyash Lalit S. K. Dwivedy

Available online ?? Robotic quadrupeds which can function as transportation machines present many advantages due to their high mobility and ability to traverse rugged terrain as opposed to conventional wheeled robots. However the high degrees of freedom and large number of actuators associated greatly increase their energy expenditure. This problem can be overcome by exploiting the natural or p...

2016
Wael Saab

This paper presents the design and analysis of a reduced degree-of-freedom Robotic Modular Leg (RML) mechanism used to construct a quadruped robot. This mechanism enables the robot to perform forward and steering locomotion with fewer actuators than conventional quadruped robots. The RML is composed of a double four-bar mechanism that maintains foot orientation parallel to the base and decouple...

Journal: :Advanced Robotics 2006
Zu Guang Zhang Hiroshi Kimura Yasuhiro Fukuoka

We report on the design and stability analysis of a simple quadruped running controller that can autonomously generate steady running of a quadruped with good energy efficiency and suppress such disturbances as irregularities of terrain. In this paper, we first consider the fixed point of quasi-passive running based on a sagittal plane model of a quadruped robot. Next, we regard friction and co...

2000
Didier Papadopoulos Martin Buehler

We have constructed an autonomous quadruped, Scout II, which features only a hip actuator and a passive compliant prismatic joint per leg. In this paper we demonstrate in simulation the control of stable running via two control strategies. One of them is verified experimentally on Scout II at a running speed near 1.2 m/s. The simulation model is verified experimentally.

2015
K. Koutsoukis E. Papadopoulos

Received: March 20, 2015. Received in revised form: July 31, 2015. Accepted: August 28, 2015. This paper studies the effect of flexible linear torso on the dynamics of passive quadruped bounding. A reduced-order passive and conservative model with linear flexible torso and springy legs is introduced. The model features extensive spine deformation during high-speed bounding, resembling those obs...

2006
Guang Zhang Hiroshi Kimura Kunikatsu Takase ZU GUANG ZHANG HIROSHI KIMURA KUNIKATSU TAKASE

In this paper we regard legged locomotion (e.g., running) as adaptive vibration, which is capable of adapting to changes in internal parameters and in the external environment. We propose control concepts for such adaptive running in general, and present a theoretical study of the bounding locomotion of a quadruped robot according to the proposed control concepts. In our control method, a force...

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