Publication

Comparing the effect of different spine and leg designs for a small bounding quadruped robot

Auke Ijspeert, Alexander Spröwitz, Peter Eckert
2015
Conference Papers

Abstract

We present Lynx-robot, a quadruped, modular, compliant machine. It alternately features a directly actuated, single-joint spine design, or an actively supported, passive compliant, multi-joint spine conﬁguration. Both spine con- ﬁgurations bend in the sagittal plane. This study aims at characterizing these two, largely different spine concepts, for a bounding gait of a robot with a three segmented, pantograph leg design. An earlier, similar-sized, bounding, quadruped robot named Bobcat with a two-segment leg design and a directly actuated, single-joint spine design serves as a comparison robot, to study and compare the effect of the leg design on speed,while keeping the spine design ﬁxed. Both proposed spine designs (single rotatory and active and multi-joint compliant) reach moderate, self-stable speeds

Official source

https://infoscience.epfl.ch/entities/publication/264859b5-c227-4bff-a71c-71f325ba39db

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Auke Ijspeert, Alexander Spröwitz, Peter Eckert
2015
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/264859b5-c227-4bff-a71c-71f325ba39db

About this result

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