Parametric analysis and design guidelines for a quadruped bounding robot

Chatzakos, P; Papadopoulos, E

dc.contributor.author	Chatzakos, P	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:44:53Z
dc.date.available	2014-03-01T02:44:53Z
dc.date.issued	2007	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32003
dc.subject	Design Guideline	en
dc.subject	Legged Robot	en
dc.subject	Parametric Analysis	en
dc.subject	Quadruped Robot	en
dc.subject.other	Industrial engineering	en
dc.subject.other	Robotics	en
dc.subject.other	Robots	en
dc.subject.other	Specifications	en
dc.subject.other	Bounding gait	en
dc.subject.other	Control and automation	en
dc.subject.other	Design guidelines	en
dc.subject.other	Experimental biology	en
dc.subject.other	Forward speed	en
dc.subject.other	Legged robots	en
dc.subject.other	Motion variables	en
dc.subject.other	Optimization schemes	en
dc.subject.other	Parametric analyses	en
dc.subject.other	Passive motion	en
dc.subject.other	Quadruped Robots	en
dc.subject.other	Robot parameters	en
dc.subject.other	Running-in	en
dc.subject.other	Sagittal plane	en
dc.subject.other	Simulation results	en
dc.subject.other	Systematic approaches	en
dc.subject.other	Machine design	en
dc.title	Parametric analysis and design guidelines for a quadruped bounding robot	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/MED.2007.4433668	en
heal.identifier.secondary	4433668	en
heal.identifier.secondary	http://dx.doi.org/10.1109/MED.2007.4433668	en
heal.publicationDate	2007	en
heal.abstract	This paper attempts to set the basis for a systematic approach in designing legged robots. A dynamically stable quadruped robot running in the sagittal plane with a bounding gait is used, and a non-dimensional criterion that is based on the robot's forward speed and the required power to sustain a passive motion, is introduced. Dimensionless robot parameters ratios and desired motion variables are inputs to an optimization scheme that takes into consideration findings from experimental biology and environment specifications. Basic design guidelines, which derive from simulation results, are provided. © 2007 IEEE.	en
heal.journalName	2007 Mediterranean Conference on Control and Automation, MED	en
dc.identifier.doi	10.1109/MED.2007.4433668	en