Alex Rohregger

Enhanced Quadruped Locomotion of a Rat Robot Based on the Lateral Flexion of a Soft Actuated Spine

In nature, the movement of quadrupeds is completed under the combined action of the spine and the legs. Inspired by this, this paper explores the effect of a lateral flexing spine on the locomotion of a rat robot. Benefiting from the regular lateral flexion of a soft actuated spine, the rat robot ex…