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The effect of morphology on the spinal engine driven locomotion in a quadruped robot


Zhao, Qian; Sumioka, Hidenobu; Pfeifer, Rolf (2011). The effect of morphology on the spinal engine driven locomotion in a quadruped robot. In: The 5th International Symposium on Adaptive Motion of Animals and Machines, Osaka, Japan, 11 October 2011 - 14 October 2011.

Abstract

The biological hypothesis of spinal engine states that the locomotion is mainly achieved by the spine, while legs only serve as assistance. Inspired by this spinal engine hypothesis, a compliant, multi-DOF, biologically inspired spine has been developed and embedded into a quadruped robot without actuation on legs. The experimental results support this spinal engine hypothesis and reveal that this kind of robot can achieve rapid, stable, and even dynamical locomotion by appropriately tuning the spine’s morphological parameters, e.g., rearranging the silicone blocks.

Abstract

The biological hypothesis of spinal engine states that the locomotion is mainly achieved by the spine, while legs only serve as assistance. Inspired by this spinal engine hypothesis, a compliant, multi-DOF, biologically inspired spine has been developed and embedded into a quadruped robot without actuation on legs. The experimental results support this spinal engine hypothesis and reveal that this kind of robot can achieve rapid, stable, and even dynamical locomotion by appropriately tuning the spine’s morphological parameters, e.g., rearranging the silicone blocks.

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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:14 October 2011
Deposited On:24 Jan 2013 13:52
Last Modified:05 Apr 2016 16:24
Related URLs:http://adaptivemotion.org/AMAM2011/
Other Identification Number:merlin-id:7823

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