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Passive compliant quadruped robot using central pattern generators for locomotion control

2008

Conference Paper

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We present a new quadruped robot, ldquoCheetahrdquo, featuring three-segment pantographic legs with passive compliant knee joints. Each leg has two degrees of freedom - knee and hip joint can be actuated using proximal mounted RC servo motors, force transmission to the knee is achieved by means of a bowden cable mechanism. Simple electronics to command the actuators from a desktop computer have been designed in order to test the robot. A Central Pattern Generator (CPG) network has been implemented to generate different gaits. A parameter space search was performed and tested on the robot to optimize forward velocity.

Author(s): Rutishauser, S. and Sproewitz, A. and Righetti, L. and Ijspeert, A.J.
Book Title: 2008 IEEE International Conference on Biomedical Robotics and Biomechatronics
Pages: 710--715
Year: 2008
Month: October
Publisher: IEEE

Department(s): Movement Generation and Control
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1109/BIOROB.2008.4762878

Address: Scottsdale, USA
URL: https://infoscience.epfl.ch/record/130727/files/sRutishauser08.pdf

BibTex

@inproceedings{rutishauser_passive_2008,
  title = {Passive compliant quadruped robot using central pattern generators for locomotion control},
  author = {Rutishauser, S. and Sproewitz, A. and Righetti, L. and Ijspeert, A.J.},
  booktitle = {2008 {IEEE} {International} {Conference} on {Biomedical} {Robotics} and {Biomechatronics}},
  pages = {710--715},
  publisher = {IEEE},
  address = {Scottsdale, USA},
  month = oct,
  year = {2008},
  url = {https://infoscience.epfl.ch/record/130727/files/sRutishauser08.pdf},
  month_numeric = {10}
}