Empirical validation of a spined sagittal-plane quadrupedal model

Jeffrey Duperret; Daniel E. Koditschek

ICRA 2017poster30 citations

Empirical validation of a spined sagittal-plane quadrupedal model

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.

BibTeX

@inproceedings{icra2017_empiricalvalidat,
  title = {Empirical validation of a spined sagittal-plane quadrupedal model},
  author = {Jeffrey Duperret and Daniel E. Koditschek},
  booktitle = {ICRA 2017},
  year = {2017}
}