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


Zhao, Qian; Sumioka, Hidenobu (2012). The effect of robot morphology on locomotion from the perspective of spinal engine in a quadruped robot. In: International Conference on Morphological Computation, Venice, Italy, 12 September 2012 - 14 September 2012.

Abstract

Although the conventional hypothesis which states the coordination of the legs contributes much to locomotion has been widely accepted over the past decades, an alternative one has been proposed with an emphasis on the spine as an engine. In this paper, based on the biological hypothesis of spinal engine, we investigate how morphology of the robot e.g., the choice of actuated joint, the position of rotational joint and the shape and stiffness of the leg, can be adequately exploited to achieve stable and dynamic locomotion. The preliminary experimental results in the real world reveal that the position of rotational joint and shape of the legs are key elements for stable and dynamic locomotion. Based on the results, we discuss the effect of morphology of rear legs, aiming to design a new leg to improve the stability on the spine-driven locomotion.

Abstract

Although the conventional hypothesis which states the coordination of the legs contributes much to locomotion has been widely accepted over the past decades, an alternative one has been proposed with an emphasis on the spine as an engine. In this paper, based on the biological hypothesis of spinal engine, we investigate how morphology of the robot e.g., the choice of actuated joint, the position of rotational joint and the shape and stiffness of the leg, can be adequately exploited to achieve stable and dynamic locomotion. The preliminary experimental results in the real world reveal that the position of rotational joint and shape of the legs are key elements for stable and dynamic locomotion. Based on the results, we discuss the effect of morphology of rear legs, aiming to design a new leg to improve the stability on the spine-driven locomotion.

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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 September 2012
Deposited On:04 Feb 2013 07:50
Last Modified:05 Apr 2016 16:28
Other Identification Number:merlin-id:7822

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