Rotary gallop in the untethered quadrupedal robot scout II

Rotary gallop in the untethered quadrupedal robot scout II

This paper discusses recent galloping results obtained using the Scout II quadrupedal robot, an underactuated robot with minimal sensing. The rotary variation of the gallop has been implemented, resulting in a motion which demonstrates both emergent stability and a circular trajectory, as predicted...

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Bibliographische Detailangaben
Hauptverfasser: Smith, J.A., Poulakakis, I.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Applied sciences
Biological system modeling
Biological systems
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
Intelligent robots
Leg
Legged locomotion
Motion control
Predictive models
Robot sensing systems
Robotics
Shape
Stability
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Beschreibung
Zusammenfassung:This paper discusses recent galloping results obtained using the Scout II quadrupedal robot, an underactuated robot with minimal sensing. The rotary variation of the gallop has been implemented, resulting in a motion which demonstrates both emergent stability and a circular trajectory, as predicted in earlier simulation studies by other researchers. It also demonstrates phase relationships in the leg touchdown pattern which resemble results from biology.
DOI:10.1109/IROS.2004.1389793