Publication

Passive compliant quadruped robot using central pattern generators for locomotion control

Auke Ijspeert, Ludovic Righetti, Simon Rutishauser, Alexander Spröwitz
2008
Conference Papers

Abstract

We present a new quadruped robot, “Cheetah”, featuring three-segment pantographic legs with passive compliant knee joints. Each leg has two degrees of freedom - knee and hip joint can be actuated using proximal mounted RC servo motors, force transmission to the knee is achieved by means of a bowden cable mechanism. Simple electronics to command the actuators from a desktop computer have been designed in order to test the robot. A Central Pattern Generator (CPG) network has been implemented to generate different gaits. A parameter space search was performed and tested on the robot to optimize forward velocity

Official source

https://infoscience.epfl.ch/entities/publication/cf8dac19-6e02-4f9c-8d43-bec8aac5aac4

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Auke Ijspeert, Ludovic Righetti, Simon Rutishauser, Alexander Spröwitz
2008
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/cf8dac19-6e02-4f9c-8d43-bec8aac5aac4

About this result

Related concepts (22)

Robot locomotion

Robot locomotion is the collective name for the various methods that robots use to transport themselves from place to place. Wheeled robots are typically quite energy efficient and simple to control. However, other forms of locomotion may be more appropriate for a number of reasons, for example traversing rough terrain, as well as moving and interacting in human environments. Furthermore, studying bipedal and insect-like robots may beneficially impact on biomechanics.

Hip

In vertebrate anatomy, hip (or coxa in medical terminology; : coxae) refers to either an anatomical region or a joint. The hip region is located lateral and anterior to the gluteal region, inferior to the iliac crest, and overlying the greater trochanter of the femur, or "thigh bone". In adults, three of the bones of the pelvis have fused into the hip bone or acetabulum which forms part of the hip region. The hip joint, scientifically referred to as the acetabulofemoral joint (art.

Hip replacement

Hip replacement is a surgical procedure in which the hip joint is replaced by a prosthetic implant, that is, a hip prosthesis. Hip replacement surgery can be performed as a total replacement or a hemi (half) replacement. Such joint replacement orthopaedic surgery is generally conducted to relieve arthritis pain or in some hip fractures. A total hip replacement (total hip arthroplasty or THA) consists of replacing both the acetabulum and the femoral head while hemiarthroplasty generally only replaces the femoral head.

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