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Effects of spinal structure on quadruped bounding gait

Published online by Cambridge University Press:  21 July 2022

Chen Lei Open the ORCID record for Chen Lei [Opens in a new window] ,
Chen Dongliang  and
Dong Wei
Chen Lei
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
Chen Dongliang*
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China
Dong Wei
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
*
*Corresponding author. E-mail: chendongliang@hrbeu.edu.cn
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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

bounding gaitquadruped robotspine structureactive driving jointpassive driving joint
Type
Research Article
Information
Robotica , Volume 40 , Issue 11 , November 2022 , pp. 3911 - 3929
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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