NDLI: Facilitating multi-modal locomotion in a quadruped robot utilizing passive oscillation of the spine structure

Content Provider	IEEE Xplore Digital Library
Author	Takuma, T. Ikeda, M. Masuda, T.
Copyright Year	2010
Description	Author affiliation: Department of Electrical and Electronic Systems Engineering, Osaka Institute of Technology, Japan (Takuma, T.; Ikeda, M.; Masuda, T.)
Abstract	An important topic in robotics is the design of a robot body using passive mechanical properties, such as viscoelasticity, to obtain energy-efficient locomotion at low computational costs. To achieve this aim, this study examines adopting a spinal structure with variable viscoelasticity and multiple joints. In order to investigate the effect of this spinal structure, a physical model of the spinal structure and a quadruped robot incorporating this design were developed, and the relationship between the gait pattern of the legs of the robot and viscoelasticity as a source of passive oscillation of the spinal structure was observed. The experimental results indicate that there are several interactions between the gait pattern and the viscoelasticity that can achieve one of various types of successful locomotion. These results suggest that the proposed spinal structure is a suitable body design for facilitating multi-modal locomotion at low computational costs.
Starting Page	4940
Ending Page	4945
File Size	1357907
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5649134
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Leg Legged locomotion Force Joints Torso Trajectory
Content Type	Text
Resource Type	Article

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