In order to reduce the cost and development time of an all-terrain autonomous robot, a modular approach is used. The robot is designed as simple as possible by using one-degree-of-freedom modules that allow the platform to auto-reconfigure to use two different locomotion models inspired by biological systems: quadruped and crawling locomotion. The pros and cons of crawling are discussed and the...

The locomotion of a quadruped robot was examined with the emphasis on the creation, optimization and merging of motions and gaits. A Fourier Series Expansion was performed on the controller commands used in the robot gait. It was found that omitting higher order terms has very little, at times even positive effect on the robot’s performance yet yields a greatly reduced parameter set describing ...

In this work, it is described a gait multiobjective optimization system that allows to obtain fast but stable robot quadruped crawl gaits. We combine bioinspired Central Patterns Generators (CPGs) and Genetic Algorithms (GA). A motion architecture based on CPGs oscillators is used to model the locomotion of the robot dog and a GA is used to search parameterizations of the CPGs parameters which ...

Difficulty: The motor control system in humans and animals is not completely understood. It is not clear what the functions of each of the organs used are and how the parts interact with each other. Therefore, it is difficult to try to implement an animal-like motor control system. Additionally, the actuators that the humans and animals use are completely different from the ones used by robots....

Robots are traditionally bound by a fixed morphology during their operational lifetime, which is limited to adapting only control strategies. Here we present the first quadrupedal robot that can morphologically adapt different environmental conditions in outdoor, unstructured environments. Our solution rooted embodied AI and comprises two components: (1) permits situ morphological adaptation (2...