Empirical validation of a spined sagittal-plane quadrupedal model
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GRASP
Kodlab
Controls and Control Theory
Electrical and Computer Engineering
Engineering
Robotics
Kodlab
Controls and Control Theory
Electrical and Computer Engineering
Engineering
Robotics
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This work was supported in part by the National Science Foundation Graduate Research Fellowship under Grant No. DGE-0822 held by the first author and in part by ONR grant #N00014-16-1-2817, a Vannevar Bush Fellowship sponsored by the Basic Research Office of the Assistant Secretary of Defense for Research and Engineering held by the second author. We thank Benjamin Kramer and Benjamin Bernstein for their support in maintaining and improving the Inu platform.
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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 robots 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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2017-06-01
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Departmental Papers (ESE)
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2023-05-17T17:26:21.000
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@inproceedings{paper:duperret-icra-2017, author={Duperret,J. and Koditschek,D. E.}, year={2017}, title={Empirical validation of a spined sagittal-plane quadrupedal model}, booktitle={Proceedings - IEEE International Conference on Robotics and Automation}, pages={1058-1064}}