Energetics and Passive Dynamics of Quadruped Robot Planar Running Gaits

P, Murali Krishna (2014) Energetics and Passive Dynamics of Quadruped Robot Planar Running Gaits. PhD thesis, Indian Institute of Technology Hyderabad.

ME10P004_2014.pdf - Submitted Version

Download (3MB) | Preview


Quadruped robots find application in military for load carrying over uneven terrain, humanitarian de-mining, and search and rescue missions. The energy required for quadruped robot locomotion needs to be supplied from on-board energy source which can be either electrical batteries or fuels such as gasolene/diesel. The range and duration of missions very much depend on the amount of energy carried, which is highly limited. Hence, energy efficiency is of paramount importance in building quadruped robots. Study of energy efficiency in quadruped robots not only helps in efficient design of quadruped robots, but also helps understand the biomechanics of quadrupedal animals. This thesis focuses on the energy efficiency of planar running gaits and presents: (a) derivation of cost of transport expressions for trot and bounding gaits, (b) advantages of articulated torso over rigid torso for quadruped robot, (c) symmetry based control laws for passive dynamic bounding and design for inherent stability, and (d) effect of asymmetry in zero-energy bounding gaits.

[error in script]
IITH Creators:
IITH CreatorsORCiD
Item Type: Thesis (PhD)
Uncontrolled Keywords: TD226
Subjects: ?? sub4.9 ??
Divisions: Department of Physics
Depositing User: Library Staff
Date Deposited: 24 Feb 2015 08:00
Last Modified: 26 Apr 2019 07:06
URI: http://raiith.iith.ac.in/id/eprint/1357
Publisher URL:
Related URLs:

Actions (login required)

View Item View Item
Statistics for RAIITH ePrint 1357 Statistics for this ePrint Item