Empirical Validation of a Spined Sagittal-Plane Quadrupedal Model

Jeffrey Duperret1, Daniel Koditschek1

  • 1University of Pennsylvania

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Regular Papers

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11:30 - 12:45 | Tue 30 May | Room 4811/4812 | TUB9

Multilegged Robots

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Abstract

We document empirically stable bounding using an actively powered spine on the Inu quadrupedal robot, and propose a reduced-order model to capture the dynamics associated with this additional, actuated spine degree of freedom. This model is sufficiently accurate as to roughly describe the robotÂ’s mass center trajectory during a bounding limit cycle, thus making it a potential option for low dimensional representations of spine actuation in steady-state legged locomotion.

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