Quadrupedal Bounding with an Actuated Spinal Joint

摘要：

Most legged vertebrates use flexible spines and supporting muscles to provide auxiliary power and dexterity for dynamic behaviors, resulting in higher speeds and additional maneuverability during locomotion. However, most existing legged robots capable of dynamic locomotion incorporate only a single rigid trunk with actuation limited to legs and associated joints. In this paper, we investigate how quadrupedal bounding can be achieved in the presence of an actuated spinal joint and characterize associated performance improvements compared to bounding with a rigid robot body. In the context of both a new controller structure for bounding with a body joint and existing bounding controllers for the rigid trunk, we use optimization methods to identify the highest performance gait parameters and establish that the spinal joint allows increased forward speeds and hopping heights.

作者: Utku (C)ulha Ulu(c) Saranl(i)

作者单位: Dept. of Computer Engineering,Bilkent University,06800,Ankara,Turkey

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 1392-1397

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）