Effects of spinal structure on quadruped bounding gait

This paper proposes a robot model with multiple spines and investigates its effects on the bounding gait of quadruped robot. Contrastive tests, carried out by adding an active driving joint (ADJ) and changing the number of passive driving joints, were divided between simulation and physical. The res...

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Bibliographic Details
Published inRobotica Vol. 40; no. 11; pp. 3911 - 3929
Main Authors Lei, Chen, Dongliang, Chen, Wei, Dong
Format Journal Article
LanguageEnglish
Published Cambridge, UK Cambridge University Press 01.11.2022
Subjects
Energy efficiency
Gait
Posture
Robots
Velocity
active driving joint
quadruped robot
passive driving joint
spine structure
bounding gait
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Summary:This paper proposes a robot model with multiple spines and investigates its effects on the bounding gait of quadruped robot. Contrastive tests, carried out by adding an active driving joint (ADJ) and changing the number of passive driving joints, were divided between simulation and physical. The results reveal that the spinal structure (one ADJ and several passive driving joints) is closely related to the performance parameters. Increasing the number of passive driving joints can improve the velocity and energy efficiency. This structure may have significant guidance for designing a quadruped robot.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574722000674