quadruped robots have unique capabilities for motion over uneven natural environments. this article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. first, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-dof quadruped robot. thereafter, an inverse-dynamics...

Quadruped robots have unique capabilities for motion over uneven natural environments. This article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. First, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-DOF quadruped robot. Thereafter, an inverse-dynamics...

In this paper, we discuss development of a sprawling-type quadruped robot named TITAN-XIII which is capable of high speed and energy efficient walking. We consider a sprawling-type quadruped robot is practical, because of its high stability which comes from the large supporting leg polygon and the low center of gravity. However in previous researches, the speed and the energy efficiency of a sp...

In order to obtain the optimal structure parameters of a quadruped robot, in this paper, a four-legged mammal (dog) is used as a model, and a quadruped robot configuration framework is set up by simplification of the model’s structure. In addition, the kinematics model of this robot is established. Based on the analysis of quadruped robot's kinematics characteristics, and taking the flexibility...

This paper presents a multipart pronking/ bounding controller for a quadruped robot, as well as the corresponding experimental results. The controller achieves given apex height and forward velocity in a quadruped robot with only one actuator per leg. A quadruped is designed and built and described in some detail. Experimental results obtained using internal sensors and highspeed camera caption...

Quadruped robot has many advantages over wheeled mobile robots, but it is a discrete system in which joints of each leg has to operate in particular fashion to get the desired locomotion. So, dynamics plays an important role in the operation and control of quadruped robot. Proper conception of the dynamic formulation is must for the complex system like quadruped robot. Here, an attempt is made ...

A fault-tolerant gait planning of a quadruped robot is presented. The considered robot has static walking and suffers from a locked joint failure. Especially, the quadruped robot is equipped with the moving appendage onto the body. By controlling the moving appendage, the robot can adjust the effective position of the center of gravity. Incorporating the adjustment of the moving appendage along...

Leg compliance, gravity and ground have a significant impact on the performance and gait characteristics of a quadruped robot. This paper presents results obtained using a planar lumped parameter model of a quadruped robot and an extensive research scheme to determine optimum design parameters for a quadruped moving in different gravity environments. Hildebrand diagrams are used to classify qua...

The structural framework of quadruped robot was built based on the bionics. Then, lead out the dynamic equations of the simplified structure of the multiple rigid body system using Lagrange method considering the structural characteristic of quadruped robot. At the same time, the virtual prototype of quadruped robot was established and simulated using ADAMS with the planned gait. The simulation...

Introduction Within the field of quadruped robot research, much focus has been put on design of leg compliance and leg configuration [1, 2, 3, 4], and controller design [5]. Typically, design goals include robot speed, cost of transport, robustness against perturbations, and range of available speeds. Recently, research has started mimicking the spine of quadruped animals, both in the frontal a...