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 مقاله:

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.

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

on passive quadrupedal bounding with flexible linear torso

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...

متن کامل

Quadrupedal bounding with a segmented flexible torso: passive stability and feedback control.

In this paper, the implications of torso flexibility on the dynamics of quadrupedal running are examined in a template setting. In the same vein with the spring loaded inverted pendulum, a reductive sagittal-plane model with a segmented flexible torso and compliant legs is introduced to capture the dynamics of bounding in the presence of torso flexibility via a minimum number of variables and p...

متن کامل

Self-stable Bounding with a Flexible Torso

Various robotic quadrupeds have been introduced to investigate the realization of dynamically-stable running behaviors. The majority of these platforms involve rigid, nondeformable torsos, a feature that distinguishes them from their counterparts in the animal world, which owe much of their remarkable locomotion abilities to their flexible bodies. Only a few quadrupedal robots employ torso flex...

متن کامل

Quadrupedal Running with Torso Compliance

A variety of conceptual models has been introduced to study legged locomotion. Such models offer unifying descriptions of task-level locomotion behaviors, and inform control design for legged robots. Our work focuses on models for quadrupedal running, with the objective to better understand the effect of torso compliance on gait stability and efficiency.

متن کامل

On the Stability of the Passive Dynamics of Quadrupedal Running with a Bounding Gait

This paper examines the passive dynamics of quadrupedal bounding. First, an unexpected difference between local and global behavior of the forward speed versus touchdown angle in the selfstabilized Spring Loaded Inverted Pendulum (SLIP) model is exposed and discussed. Next, the stability properties of a simplified sagittal plane model of our Scout II quadrupedal robot are investigated. Despite ...

متن کامل

منابع من

با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ذخیره در منابع من قبلا به منابع من ذحیره شده

{@ msg_add @}


عنوان ژورنال

دوره 4  شماره 2

صفحات  1- 8

تاریخ انتشار 2015-09-01

با دنبال کردن یک ژورنال هنگامی که شماره جدید این ژورنال منتشر می شود به شما از طریق ایمیل اطلاع داده می شود.

میزبانی شده توسط پلتفرم ابری doprax.com

copyright © 2015-2023