Implementation of a quadruped robot pronking / bounding gait using a multipart controller

Nikolakakis, A; Kontolatis, I; Cherouvim, N; Chatzakos, P; Papadopoulos, E

dc.contributor.author	Nikolakakis, A	en
dc.contributor.author	Kontolatis, I	en
dc.contributor.author	Cherouvim, N	en
dc.contributor.author	Chatzakos, P	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:52:41Z
dc.date.available	2014-03-01T02:52:41Z
dc.date.issued	2010	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/35999
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-79958209048&partnerID=40&md5=894de46cd30157ea735d7ae39351ee7b	en
dc.subject.other	Bounding gait	en
dc.subject.other	Forward velocity	en
dc.subject.other	Internal sensors	en
dc.subject.other	Quadruped Robots	en
dc.subject.other	Multipurpose robots	en
dc.subject.other	Controllers	en
dc.title	Implementation of a quadruped robot pronking / bounding gait using a multipart controller	en
heal.type	conferenceItem	en
heal.publicationDate	2010	en
heal.abstract	This paper presents a multipart pronking/bounding controller for a quadruped robot, as well as the corresponding experimental results. The controller achieves given apex height and forward velocity in a quadruped robot with only one actuator per leg. A quadruped is designed and built and described in some detail. Experimental results obtained using internal sensors and high-speed camera captions show that the implemented quadruped robot performs pronking gaits and achieves bounding gaits with the desired characteristics. Copyright © 2010 by ASME.	en
heal.journalName	ASME 2010 Dynamic Systems and Control Conference, DSCC2010	en
dc.identifier.volume	2	en
dc.identifier.spage	149	en
dc.identifier.epage	156	en