TY - GEN
T1 - Towards High Performance Quadrupedal Locomotion with Passive Hip Joint Compliance
AU - Zhang, Victor
AU - Mehndiratta, Aadarsh
AU - Yu, Haoyong
PY - 2019/1/11
Y1 - 2019/1/11
N2 - We present a new lightweight, cat-inspired, quadrupedal, cordless robot featuring two-segment limbs with passive compliant hip joints. Each limb has two degrees of freedom-hip and knee joints are actuated using servomotors. Simple electronics to command the actuators from a desktop computer have been embedded on the robot in order to test it. Both the inverse kinematics and the Central Pattern Generation (CPG) approaches have been used to produce stable crawl gaits, ranging from 13 cm/s to 50.2 cm/s, reaching a minimum Cost of Transport (CoT) of 3.12 J/N/m. Our passive compliant hip design was compared with traditional rigid hips and fared better in terms of the CoT overall and of the mean forward speed starting from a swing frequency of 21 rad/s.
AB - We present a new lightweight, cat-inspired, quadrupedal, cordless robot featuring two-segment limbs with passive compliant hip joints. Each limb has two degrees of freedom-hip and knee joints are actuated using servomotors. Simple electronics to command the actuators from a desktop computer have been embedded on the robot in order to test it. Both the inverse kinematics and the Central Pattern Generation (CPG) approaches have been used to produce stable crawl gaits, ranging from 13 cm/s to 50.2 cm/s, reaching a minimum Cost of Transport (CoT) of 3.12 J/N/m. Our passive compliant hip design was compared with traditional rigid hips and fared better in terms of the CoT overall and of the mean forward speed starting from a swing frequency of 21 rad/s.
UR - http://www.scopus.com/inward/record.url?scp=85061499548&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85061499548&partnerID=8YFLogxK
U2 - 10.1109/ICARM.2018.8610847
DO - 10.1109/ICARM.2018.8610847
M3 - Conference contribution
AN - SCOPUS:85061499548
T3 - ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics
SP - 146
EP - 151
BT - ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018
Y2 - 18 July 2018 through 20 July 2018
ER -