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bounding gait

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1 results

Effects of spinal structure on quadruped bounding gait
Chen Lei, Chen Dongliang, Dong Wei
Journal:

Robotica / Volume 40 / Issue 11 / November 2022

Published online by Cambridge University Press:

21 July 2022, pp. 3911-3929
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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.