Parametric analysis and design guidelines for a quadruped bounding robot
This paper attempts to set the basis for a systematic approach in designing legged robots. A dynamically stable quadruped robot running in the sagittal plane with a bounding gait is used, and a non-dimensional criterion that is based on the robot's forward speed and the required power to sustai...
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| creator | Chatzakos, P. Papadopoulos, E. |
| description | This paper attempts to set the basis for a systematic approach in designing legged robots. A dynamically stable quadruped robot running in the sagittal plane with a bounding gait is used, and a non-dimensional criterion that is based on the robot's forward speed and the required power to sustain a passive motion, is introduced. Dimension-less robot parameters ratios and desired motion variables are inputs to an optimization scheme that takes into consideration findings from experimental biology and environment specifications. Basic design guidelines, which derive from simulation results, are provided. |
| doi_str_mv | 10.1109/MED.2007.4433668 |
| format | Conference Proceeding |
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A dynamically stable quadruped robot running in the sagittal plane with a bounding gait is used, and a non-dimensional criterion that is based on the robot's forward speed and the required power to sustain a passive motion, is introduced. Dimension-less robot parameters ratios and desired motion variables are inputs to an optimization scheme that takes into consideration findings from experimental biology and environment specifications. Basic design guidelines, which derive from simulation results, are provided.</description><subject>Analytical models</subject><subject>Animals</subject><subject>Biological information theory</subject><subject>Biological system modeling</subject><subject>Guidelines</subject><subject>Hip</subject><subject>Leg</subject><subject>Legged locomotion</subject><subject>Mechanical engineering</subject><subject>Mobile robots</subject><isbn>1424412811</isbn><isbn>9781424412815</isbn><isbn>142441282X</isbn><isbn>9781424412822</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2007</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpFj8FKxDAURSMiqOPsBTf5gdYkfU3bpYyjI4zoQsHd8JK8lEinHZN2MX9vwQFX996zuHAYu5Uil1I096_rx1wJUeUARaF1fcauJSgAqWr1df4_pLxky5S-hRCy0jMRV2zzjhH3NMZgOfbYHVNIc3HcUQptz9spOOpCT4n7IXLkPxO6OB3IcTNMvQt9y-NghvGGXXjsEi1PuWCfT-uP1Sbbvj2_rB62mZVFNWaKBDSVJeu1RF9Laz2I0oIrQWsiFFQaY03j0IB1mmavEqCxwnqUDlSxYHd_v4GIdocY9hiPu5N58QsN0E3l</recordid><startdate>200706</startdate><enddate>200706</enddate><creator>Chatzakos, P.</creator><creator>Papadopoulos, E.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>200706</creationdate><title>Parametric analysis and design guidelines for a quadruped bounding robot</title><author>Chatzakos, P. ; Papadopoulos, E.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c137t-2e0497cecf61af81ccf405c4d5466eea0e5bbcb9dab4cd6e2005449c0cfa1d423</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2007</creationdate><topic>Analytical models</topic><topic>Animals</topic><topic>Biological information theory</topic><topic>Biological system modeling</topic><topic>Guidelines</topic><topic>Hip</topic><topic>Leg</topic><topic>Legged locomotion</topic><topic>Mechanical engineering</topic><topic>Mobile robots</topic><toplevel>online_resources</toplevel><creatorcontrib>Chatzakos, P.</creatorcontrib><creatorcontrib>Papadopoulos, E.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Chatzakos, P.</au><au>Papadopoulos, E.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Parametric analysis and design guidelines for a quadruped bounding robot</atitle><btitle>2007 Mediterranean Conference on Control & Automation</btitle><stitle>MED</stitle><date>2007-06</date><risdate>2007</risdate><spage>1</spage><epage>6</epage><pages>1-6</pages><isbn>1424412811</isbn><isbn>9781424412815</isbn><eisbn>142441282X</eisbn><eisbn>9781424412822</eisbn><abstract>This paper attempts to set the basis for a systematic approach in designing legged robots. A dynamically stable quadruped robot running in the sagittal plane with a bounding gait is used, and a non-dimensional criterion that is based on the robot's forward speed and the required power to sustain a passive motion, is introduced. Dimension-less robot parameters ratios and desired motion variables are inputs to an optimization scheme that takes into consideration findings from experimental biology and environment specifications. Basic design guidelines, which derive from simulation results, are provided.</abstract><pub>IEEE</pub><doi>10.1109/MED.2007.4433668</doi><tpages>6</tpages></addata></record> |
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| identifier | ISBN: 1424412811 |
| ispartof | 2007 Mediterranean Conference on Control & Automation, 2007, p.1-6 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Analytical models Animals Biological information theory Biological system modeling Guidelines Hip Leg Legged locomotion Mechanical engineering Mobile robots |
| title | Parametric analysis and design guidelines for a quadruped bounding robot |
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