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Passive compliant quadruped robot using Central Pattern Generators for locomotion control

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4 Author(s)
Rutishauser, Simon ; Sch. of Comput. & Commun. Sci., Biologically Inspired Robot. Group, Ecole Polytech. Fed. de Lausanne (EPFL), Lausanne ; Sprowitz, A. ; Righetti, L. ; Ijspeert, A.J.

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.

Published in:

Biomedical Robotics and Biomechatronics, 2008. BioRob 2008. 2nd IEEE RAS & EMBS International Conference on

Date of Conference:

19-22 Oct. 2008

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