Control oriented model-based simulation and experimental studies on a compliant legged quadruped robot ?
Paper presents three dimensional dynamic model of quadruped with compliant legs. Model is verified with simulation, animation and experiment results. Turning motion is demonstrated by providing differential leg tip velocity. Influence of leg compliance on quadruped locomotion is studied. Energy efficient structure, gait and foot trajectory have been carried out.
compliant leg quadruped robot dynamic model foot trajectory bond graph locomotion gait