Naslov
Dynarobin – Compliant Quadruped Research Platform for Rugged Terrain Locomotion

Autori
Kočo, Edin ; Kovačić, Zdenko.

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of Conference on Climbing and Walking Robots 2016. / - , 2016

Skup
International Conference on Climbing and Walking Robots (CLAWAR)

Mjesto i datum
London, Ujedinjeno Kraljevstvo, 12.09.2016. - 14.09.2016

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
quadruped research platform; rugged terrain locomotion; variable passive compliance; terrain adaptation

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA