Publication

Benefits of an Active Spine Supported Bounding Locomotion With a Small Compliant Quadruped Robot

Auke Ijspeert, Alexander Spröwitz, Mahdi Khoramshahi, Alexandre Tuleu
2013
Conference Papers

Abstract

We studied the effect of the control of an active spine versus a fixed spine, on a quadruped robot run- ning 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.

Official source

https://infoscience.epfl.ch/entities/publication/59fca7f9-54ed-4202-8521-7b215546690f

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Benefits of an Active Spine Supported Bounding Locomotion With a Small Compliant Quadruped Robot

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