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Gait versatility through morphological changes in a new quadruped robot


Vu Quy, Hung; Ramstein, Gilles; Casanova, Flurin; Aryananda, Lijin; Hoffmann, Matej; Sheikh, Farrukh Iqbal; Hauser, Helmut (2011). Gait versatility through morphological changes in a new quadruped robot. In: The 5th International Symposium on Adaptive Motion of Animals and Machines (AMAM2011), Osaka, Japan, 11 October 2011 - 15 October 2011, 59-60.

Abstract

In dynamic locomotion, robots’ morphology and the ability to adapt it online play an important role in energy efficiency and coping with the highly unpredictable perturbations from the environment. In this paper, we present the design and implementation of a quadruped robot whose morphology is particularly targeted towards energy-efficient dynamic locomotion. We propose a combination of mechanisms which allow for energy-efficient actuation, ground clearance, and gait versatility through adaptation of morphology (morphosis). We report on a series of experiments to validate the robot’s performance in different locomotion conditions.

In dynamic locomotion, robots’ morphology and the ability to adapt it online play an important role in energy efficiency and coping with the highly unpredictable perturbations from the environment. In this paper, we present the design and implementation of a quadruped robot whose morphology is particularly targeted towards energy-efficient dynamic locomotion. We propose a combination of mechanisms which allow for energy-efficient actuation, ground clearance, and gait versatility through adaptation of morphology (morphosis). We report on a series of experiments to validate the robot’s performance in different locomotion conditions.

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Additional indexing

Item Type:Conference or Workshop Item (Paper), refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Event End Date:15 October 2011
Deposited On:27 Feb 2012 14:43
Last Modified:05 Apr 2016 15:42
ISSN:2186-9510
Related URLs:http://www-dsc.mech.eng.osaka-u.ac.jp/AMAM2011/
Other Identification Number:merlin-id:3712
Permanent URL: https://doi.org/10.5167/uzh-60562

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