NDLI: Stable quadrupedal running based spring-loaded two-segment legged on a model

Content Provider	IEEE Xplore Digital Library
Author	Zhang, Z.G. Fukuoka, Y. Kimura, H.
Copyright Year	2004
Description	Author affiliation: Graduate Sch. of Inf. Syst., Univ. of Electro-Commun., Tokyo, Japan (Zhang, Z.G.; Fukuoka, Y.; Kimura, H.)
Abstract	In this paper, we employed a conservative spring-loaded two-segment legged model to test the effect of passive dynamics on running stability. By numerical return map studies, we investigated system stability and discovered that passive generation of a large variety of cyclic jumping motion on the legged model is possible. The results of this study indicated that the dynamics of suitable mechanical system could significantly alone improve the stability of legged running and suggest that swing phase dynamics may play an important role in adjustment of forward velocity and apex height. Moreover, we used the spring-loaded two segment legged model as a template to construct a simplified model of our Tekken I quadruped robot on numerical simulation. Using the constructed simulator to investigate the quadruped robot system stability, we proposed a simple control method for quadrupedal bounding and verified its effectiveness. In addition, our studies relating to passive dynamics of quadruped robot might help to understand the reliable stability and remarkable maneuverability on our experimental robot.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	2601
Ending Page	2606
File Size	381738
Page Count	6
File Format	PDF
ISBN	0780382323
ISSN	10504729
DOI	10.1109/ROBOT.2004.1307453
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-04-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Mechanical systems Legged locomotion Electronic mail Stability Control systems Open loop systems Hip Leg Information systems
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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