on passive quadrupedal bounding with flexible linear torso

نویسندگان

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

چکیده

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 calculated using numerical return map methodologies. results show that the corresponding robot gaits and the associated performance resemble those of its natural counterparts.

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عنوان ژورنال:
international journal of robotics

جلد ۴، شماره ۲، صفحات ۱-۸

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