Effects of spinal structure on quadruped bounding gait

Chen Lei; Chen Dongliang; Dong Wei

doi:10.1017/S0263574722000674

Effects of spinal structure on quadruped bounding gait

Chen Lei
, Chen Dongliang^*
, Dong Wei

^*Corresponding author for this work

School of Mechatronics Engineering

College of Mechanical and Electrical Engineering, Harbin Engineering University
Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

11 Scopus citations

Abstract

This paper proposes a robot model with multiple spines and investigates its effects on the bounding gait of quadruped robot. Contrastive tests, carried out by adding an active driving joint (ADJ) and changing the number of passive driving joints, were divided between simulation and physical. The results reveal that the spinal structure (one ADJ and several passive driving joints) is closely related to the performance parameters. Increasing the number of passive driving joints can improve the velocity and energy efficiency. This structure may have significant guidance for designing a quadruped robot.

Original language	English
Pages (from-to)	3911-3929
Number of pages	19
Journal	Robotica
Volume	40
Issue number	11
DOIs	https://doi.org/10.1017/S0263574722000674
State	Published - 21 Nov 2022

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

active driving joint
bounding gait
passive driving joint
quadruped robot
spine structure

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10.1017/S0263574722000674

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title = "Effects of spinal structure on quadruped bounding gait",

abstract = "This paper proposes a robot model with multiple spines and investigates its effects on the bounding gait of quadruped robot. Contrastive tests, carried out by adding an active driving joint (ADJ) and changing the number of passive driving joints, were divided between simulation and physical. The results reveal that the spinal structure (one ADJ and several passive driving joints) is closely related to the performance parameters. Increasing the number of passive driving joints can improve the velocity and energy efficiency. This structure may have significant guidance for designing a quadruped robot.",

keywords = "active driving joint, bounding gait, passive driving joint, quadruped robot, spine structure",

author = "Chen Lei and Chen Dongliang and Dong Wei",

note = "Publisher Copyright: {\textcopyright} The Author(s), 2022. Published by Cambridge University Press.",

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T1 - Effects of spinal structure on quadruped bounding gait

AU - Lei, Chen

AU - Dongliang, Chen

AU - Wei, Dong

N1 - Publisher Copyright: © The Author(s), 2022. Published by Cambridge University Press.

PY - 2022/11/21

Y1 - 2022/11/21

N2 - This paper proposes a robot model with multiple spines and investigates its effects on the bounding gait of quadruped robot. Contrastive tests, carried out by adding an active driving joint (ADJ) and changing the number of passive driving joints, were divided between simulation and physical. The results reveal that the spinal structure (one ADJ and several passive driving joints) is closely related to the performance parameters. Increasing the number of passive driving joints can improve the velocity and energy efficiency. This structure may have significant guidance for designing a quadruped robot.

AB - This paper proposes a robot model with multiple spines and investigates its effects on the bounding gait of quadruped robot. Contrastive tests, carried out by adding an active driving joint (ADJ) and changing the number of passive driving joints, were divided between simulation and physical. The results reveal that the spinal structure (one ADJ and several passive driving joints) is closely related to the performance parameters. Increasing the number of passive driving joints can improve the velocity and energy efficiency. This structure may have significant guidance for designing a quadruped robot.

KW - active driving joint

KW - bounding gait

KW - passive driving joint

KW - quadruped robot

KW - spine structure

UR - https://www.scopus.com/pages/publications/85141320438

U2 - 10.1017/S0263574722000674

DO - 10.1017/S0263574722000674

M3 - 文章

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VL - 40

SP - 3911

EP - 3929

JO - Robotica

JF - Robotica

IS - 11

ER -

Effects of spinal structure on quadruped bounding gait

Abstract

UN SDGs

Keywords

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