Comparing the effect of different spine and leg designs for a small bounding quadruped robot
Peter Eckert, Alexander Spröwitz, Hartmut Witte, Auke Jan Ijspeert
Abstract
We present Lynx-robot, a quadruped, modular, compliant machine. It alternately features a directly actuated, single-joint spine design, or an actively supported, passive compliant, multi-joint spine configuration. Both spine configurations bend in the sagittal plane. This study aims at characterizing these two, largely different spine concepts, for a bounding gait of a robot with a three segmented, pantograph leg design. An earlier, similar-sized, bounding, quadruped robot named Bobcat with a two-segment leg design and a directly actuated, single-joint spine design serves as a comparison robot, to study and compare the effect of the leg design on speed, while keeping the spine design fixed. Both proposed spine designs (single rotatory and active and multi-joint compliant) reach moderate, self-stable speeds.
BibTeX
@inproceedings{icra2015_comparingtheeffe,
title = {Comparing the effect of different spine and leg designs for a small bounding quadruped robot},
author = {Peter Eckert and Alexander Spröwitz and Hartmut Witte and Auke Jan Ijspeert},
booktitle = {ICRA 2015},
year = {2015}
}