A parametric study on the rolling motion of dynamically running quadrupeds during pronking

Chatzakos, P; Papadopoulos, E

dc.contributor.author	Chatzakos, P	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:51:51Z
dc.date.available	2014-03-01T02:51:51Z
dc.date.issued	2009	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/35692
dc.subject	Design Guideline	en
dc.subject	Legged Robot	en
dc.subject	Local Stability	en
dc.subject	Mechanical Systems	en
dc.subject	Mechanism Design	en
dc.subject	Parametric Study	en
dc.subject	Quadruped Robot	en
dc.subject	Steady State	en
dc.title	A parametric study on the rolling motion of dynamically running quadrupeds during pronking	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/MED.2009.5164634	en
heal.identifier.secondary	http://dx.doi.org/10.1109/MED.2009.5164634	en
heal.publicationDate	2009	en
heal.abstract	This paper examines the passive dynamics of straight-ahead level ground quadrupedal running and explores its use in formulating design guidelines that would: a) reduce steady-state roll and b) self-stabilize the rolling motion, thus making the control of the robot more straightforward. To study the effect of mechanical design in the rolling motion, a simple bounding-in-place (BIP) template is introduced as	en
heal.journalName	Mediterranean Conference on Control and Automation	en
dc.identifier.doi	10.1109/MED.2009.5164634	en