Benefits of an active spine supported bounding locomotion with a small compliant quadruped robot
- 1 May 2013
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 10504729,p. 3329-3334
Abstract
We studied the effect of the control of an active spine versus a fixed spine, on a quadruped robot running in bound gait. Active spine supported actuation led to faster locomotion, with less foot sliding on the ground, and a higher stability to go straight forward. However, we did no observe an improvement of cost of transport of the spine-actuated, faster robot system compared to the rigid spine.Keywords
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