A Flexible-Waist Quadruped Robot Imitating Infant Crawl

摘要：

Through investigating a 1-year-old human babys body and crawl movement, an infant-sized quadruped robot Babybot is designed. The robot has a mechanism of two passive DOFs in its waist, namely the flexible waist. The biologically-inspired Central Pattern Generator (CPG) is employed for controlling Babybots locomotion. The results of dynamic simulation show Babybot can crawl in a natural infant-like way and the flexible waist can improve the robots crawling performance.

关键词： Quadruped robot Infant crawl Flexible waist Rhythmic motion Central pattern generator

作者: Cheng Liu Xiuli Zhang Dongdong Li Kunling Zhou

作者单位: Beijing Jiaotong University, Beijing 100044, China

会议类型: 国际会议

会议名称: The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robote 第二届ASME/IFTOMM可重构机构与可重构机器人国际大会 ReMAR 2012

会议地点: 天津

会议语种:英文

页码: 455-463

在线出版日期: 2012-07-08（万方平台首次上网日期，不代表论文的发表时间）