Dynarobin – Compliant Quadruped Research Platform for Rugged Terrain Locomotion (CROSBI ID 636211)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kočo, Edin ; Kovačić, Zdenko.
engleski
Dynarobin – Compliant Quadruped Research Platform for Rugged Terrain Locomotion
This paper gives an overview of the design and control architecture of newly developed biologically inspired quadruped research platform. The robot Dynarobin is intended to be used as a platform for testing the locomotion control algorithms on rugged terrain. The robot is equipped with various bio-inspired features such as articulated legs with variable passive compliance elements and actuated spine in order to study their impact on larger exibility and better energetic characteristics. Advanced and high power DC actuators provide joint actuation while 3D foot force sensors, inertial measurement unit and visual feedback provide necessary information to ensure stable locomotion.
quadruped research platform; rugged terrain locomotion; variable passive compliance; terrain adaptation
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Podaci o prilogu
2016.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of Conference on Climbing and Walking Robots 2016.
Podaci o skupu
International Conference on Climbing and Walking Robots (CLAWAR)
predavanje
12.09.2016-14.09.2016
London, Ujedinjeno Kraljevstvo