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Oncilla robot: a versatile open-source quadruped research robot with compliant pantograph legs




We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-cat sized, 5.1 robot is one of a kind of a recent, bioinspired legged robot class designed with the capability of model-free locomotion control. Animal legged locomotion in rough terrain is clearly shaped by sensor feedback systems. Results with Oncilla robot show that agile and versatile locomotion is possible without sensory signals to some extend, and tracking becomes robust when feedback control is added (Ajaoolleian 2015). By incorporating mechanical and control blueprints inspired from animals, and by observing the resulting robot locomotion characteristics, we aim to understand the contribution of individual components. Legged robots have a wide mechanical and control design parameter space, and a unique potential as research tools to investigate principles of biomechanics and legged locomotion control. But the hardware and controller design can be a steep initial hurdle for academic research. To facilitate the easy start and development of legged robots, Oncilla-robot's blueprints are available through open-source. [...]

Author(s): Alexander Spröwitz and Alexandre Tuleu and Mostafa Ajallooeian and Massimo Vespignani and Rico Moeckel and Peter Eckert and Michiel D’Haene and Jonas Degrave and Arne Nordmann and Benjamin Schrauwen and Jochen Steil and Auke Jan Ijspeert
Journal: Frontiers in Robotics and AI
Volume: 5
Number (issue): 67
Year: 2018
Month: June

Department(s): Dynamic Locomotion
Research Project(s): Quadruped research platform to evaluate bioinspired locomotion mechanisms
Bibtex Type: Article (article)
Paper Type: Journal

Digital: True
DOI: 10.3389/frobt.2018.00067
Note: arXiv: 1803.06259
State: Published
URL: https://www.frontiersin.org/article/10.3389/frobt.2018.00067


  title = {Oncilla robot: a versatile open-source quadruped research robot with compliant pantograph legs},
  author = {Spr{\"o}witz, Alexander and Tuleu, Alexandre and Ajallooeian, Mostafa and Vespignani, Massimo and Moeckel, Rico and Eckert, Peter and D'Haene, Michiel and Degrave, Jonas and Nordmann, Arne and Schrauwen, Benjamin and Steil, Jochen and Ijspeert, Auke Jan},
  journal = {Frontiers in Robotics and AI},
  volume = {5},
  number = {67},
  month = jun,
  year = {2018},
  note = {arXiv: 1803.06259},
  url = {https://www.frontiersin.org/article/10.3389/frobt.2018.00067},
  month_numeric = {6}