Dynamic Gaits and Control in Flexible Body Quadruped Robot

P, Murali Krishna and R, Prasanth Kumar and S, Srivastava (2013) Dynamic Gaits and Control in Flexible Body Quadruped Robot. In: 1st International and 16th National Conference on Machines and Mechanisms (iNaCoMM2013), 18-20 December, 2013, IIT Roorkee, India.

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Abstract

Legged robots are highly attractive for military purposes such as carrying heavy loads on uneven terrain for long durations because of the higher mobility they give on rough terrain compared to wheeled vehicles/robots. Existing state-of-the-art quadruped robots developed by Boston Dynamics such as LittleDog and BigDog do not have flexible bodies. It can be easily seen that the agility of quadruped animals such as dogs, cats, and deer etc. depend to a large extent on their ability to flex their bodies. However, simulation study on step climbing in 3D terrain quadruped robot locomotion with flexible body has not been reported in literature. This paper aims to study the effect of body flexibility on stability and energy efficiency in walking mode, trot mode and running (bounding) mode on step climbing.

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IITH Creators:
IITH CreatorsORCiD
Item Type: Conference or Workshop Item (Paper)
Additional Information: The authors gratefully acknowledge the Directors of IITHyderabad and CAIR, Bangalore, for their support in carrying out this research.
Uncontrolled Keywords: Simulation, stability margin, flexible body, dynamic gait
Subjects: ?? sub4.9 ??
Divisions: Department of Mechanical & Aerospace Engineering
Depositing User: Library Staff
Date Deposited: 24 Feb 2015 09:46
Last Modified: 24 Feb 2015 09:46
URI: http://raiith.iith.ac.in/id/eprint/1358
Publisher URL: http://www.nacomm2013.org/
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