Dynamic Locomotion Gaits of a Compliantly Actuated Quadruped With SLIP-Like Articulated Legs Embodied in the Mechanical Design
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2018.2857511
Abstract: The spring loaded inverted pendulum (SLIP) model has been extensively shown to be fundamental for legged locomotion. However, the way this low-order template model dynamics is anchored in high-dimensional articulated multibody systems describing compliantly actuated… read more here.
Keywords: slip; actuated quadruped; dynamic locomotion; compliantly actuated ... See more keywords
Soft Electrically Actuated Quadruped (SEAQ)—Integrating a Flex Circuit Board and Elastomeric Limbs for Versatile Mobility
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2019.2903856
Abstract: Like their natural mammalian and reptilian counterparts, legged soft robots require robust walking dynamics and untethered functionality in order to swiftly maneuver through unstructured environments. Progress in this domain requires careful selection of soft limb… read more here.
Keywords: soft electrically; actuated quadruped; versatile mobility; electrically actuated ... See more keywords