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Self-stabilising quadrupedal running by mechanical design

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dc.contributor.author Chatzakos, P en
dc.contributor.author Papadopoulos, E en
dc.date.accessioned 2014-03-01T01:31:51Z
dc.date.available 2014-03-01T01:31:51Z
dc.date.issued 2009 en
dc.identifier.issn 11762322 en
dc.identifier.uri https://dspace.lib.ntua.gr/xmlui/handle/123456789/19959
dc.subject Dynamic running en
dc.subject Dynamic similarity en
dc.subject Mechanical design en
dc.subject Passive dynamics en
dc.subject Quadruped robot en
dc.subject Self-stability en
dc.subject.other Dynamic running en
dc.subject.other Mechanical design en
dc.subject.other Passive dynamics en
dc.subject.other Quadruped robot en
dc.subject.other Self-stability en
dc.subject.other Animals en
dc.subject.other Disturbance rejection en
dc.subject.other Mechanical properties en
dc.subject.other Mechanisms en
dc.subject.other Mechatronics en
dc.subject.other Multipurpose robots en
dc.subject.other Stiffness en
dc.subject.other System stability en
dc.subject.other Vibrations (mechanical) en
dc.subject.other Machine design en
dc.title Self-stabilising quadrupedal running by mechanical design en
heal.type journalArticle en
heal.identifier.primary 10.1080/11762320902863908 en
heal.identifier.secondary http://dx.doi.org/10.1080/11762320902863908 en
heal.publicationDate 2009 en
heal.abstract Dynamic stability allows running animals to maintain preferred speed during locomotion over rough terrain. It appears that rapid disturbance rejection is an emergent property of the mechanical system. In running robots, simple motor control seems to be effective in the negotiation of rough terrain when used in concert with a mechanical system that stabilises passively. Spring-like legs are a means for providing self-stabilising characteristics against external perturbations. In this paper, we show that a quadruped robot could be able to perform self-stable running behaviour in significantly broader ranges of forward speed and pitch rate with a suitable mechanical design, which is not limited to choosing legs spring stiffness only. The results presented here are derived by studying the stability of the passive dynamics of a quadruped robot running in the sagittal plane in a dimensionless context and might explain the success of simple, open loop running controllers on existing experimental quadruped robots. These can be summarised in (a) the self-stabilised behaviour of a quadruped robot for a particular gait is greatly related to the magnitude of its dimensionless body inertia, (b) the values of hip separation, normalised to rest leg length, and leg relative stiffness of a quadruped robot affect the stability of its motion and should be in inverse proportion to its dimensionless body inertia, and (c) the self-stable regime of quadruped running robots is enlarged at relatively high forward speeds. We anticipate the proposed guidelines to assist in the design of new, and modifications of existing, quadruped robots. As an example, specific design changes for the Scout II quadruped robot that might improve its performance are proposed. en
heal.journalName Applied Bionics and Biomechanics en
dc.identifier.doi 10.1080/11762320902863908 en
dc.identifier.volume 6 en
dc.identifier.issue 1 en
dc.identifier.spage 73 en
dc.identifier.epage 85 en


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