Dynamically running quadrupeds self-stable region expansion by mechanical design

Chatzakos, P; Papadopoulos, E

dc.contributor.author	Chatzakos, P	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:46:07Z
dc.date.available	2014-03-01T02:46:07Z
dc.date.issued	2009	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32555
dc.subject	Disturbance Rejection	en
dc.subject	Dynamic Stability	en
dc.subject	Emergent Properties	en
dc.subject	Mechanical Systems	en
dc.subject	Mechanism Design	en
dc.subject	Motor Control	en
dc.subject	Quadruped Robot	en
dc.subject	Rough Terrain	en
dc.subject.other	Dynamic stability	en
dc.subject.other	Emergent property	en
dc.subject.other	Forward speed	en
dc.subject.other	Inverse proportions	en
dc.subject.other	Leg length	en
dc.subject.other	Mechanical design	en
dc.subject.other	Mechanical systems	en
dc.subject.other	Motor control	en
dc.subject.other	Pitch rate	en
dc.subject.other	Quadruped Robots	en
dc.subject.other	Relative stiffness	en
dc.subject.other	Rough terrains	en
dc.subject.other	Running robots	en
dc.subject.other	Running-in	en
dc.subject.other	Sagittal plane	en
dc.subject.other	Stable region	en
dc.subject.other	Animals	en
dc.subject.other	Disturbance rejection	en
dc.subject.other	Mechanical properties	en
dc.subject.other	Mechatronics	en
dc.subject.other	Multipurpose robots	en
dc.subject.other	Robotics	en
dc.subject.other	System stability	en
dc.subject.other	Machine design	en
dc.title	Dynamically running quadrupeds self-stable region expansion by mechanical design	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2009.5152349	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2009.5152349	en
heal.identifier.secondary	5152349	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 stabilizes passively. In this paper, we show that a quadruped robot could be able to perform selfstable running behavior in significantly broader ranges of forward speed and pitch rate with suitable mechanical design. The results presented here are derived by studying the stability of passive dynamics of a quadruped robot running in the sagittal plane in a dimensionless context and can be summarized as: (a) the self-stabilized behavior of a quadruped robot for a particular gait is related to the magnitude of its dimensionless inertia, (b) the values of hip separation, normalized to rest leg length, and the leg relative stiffness of a quadruped robot affect the stability and should be in inverse proportion to its dimensionless inertia, and (c) the self-stable regime of quadruped running robots is enlarged at relatively high forward speeds.© 2009 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2009.5152349	en
dc.identifier.spage	2749	en
dc.identifier.epage	2754	en