Publication

Benefits of an Active Spine Supported Bounding Locomotion With a Small Compliant Quadruped Robot

Auke Ijspeert, Mahdi Khoramshahi, Alexander Spröwitz, Alexandre Tuleu
2013
Conference Papers

Résumé

We studied the effect of the control of an active spine versus a fixed spine, on a quadruped robot run- ning in bound gait. Active spine supported actuation led to faster locomotion, with less foot sliding on the ground, and a higher stability to go straight forward. However, we did no observe an improvement of cost of transport of the spine-actuated, faster robot system compared to the rigid spine.

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https://infoscience.epfl.ch/entities/publication/59fca7f9-54ed-4202-8521-7b215546690f

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Auke Ijspeert, Mahdi Khoramshahi, Alexander Spröwitz, Alexandre Tuleu
2013
Conference Papers

Résumé

Source officielle

https://infoscience.epfl.ch/entities/publication/59fca7f9-54ed-4202-8521-7b215546690f

À propos de ce résultat

Concepts associés (18)

Locomotion robotique

La locomotion robotique est le nom collectif des différentes méthodes que les robots utilisent pour se déplacer d'un endroit à l'autre. Les robots à roues sont généralement assez efficaces sur le plan énergétique et simples à contrôler. Toutefois, d'autres formes de locomotion peuvent être plus appropriées pour un certain nombre de raisons, par exemple pour traverser un terrain accidenté, ainsi que pour se déplacer et interagir dans des environnements humains.

Terrestrial locomotion

Terrestrial locomotion has evolved as animals adapted from aquatic to terrestrial environments. Locomotion on land raises different problems than that in water, with reduced friction being replaced by the increased effects of gravity. As viewed from evolutionary taxonomy, there are three basic forms of animal locomotion in the terrestrial environment: legged – moving by using appendages limbless locomotion – moving without legs, primarily using the body itself as a propulsive structure.

Fish locomotion

Fish locomotion is the various types of animal locomotion used by fish, principally by swimming. This is achieved in different groups of fish by a variety of mechanisms of propulsion, most often by wave-like lateral flexions of the fish's body and tail in the water, and in various specialised fish by motions of the fins.

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