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Empirical validation of a spined sagittal-plane quadrupedal model

2017 IEEE International Conference on Robotics and Automation, 2017 (accepted)

Jeffrey Duperret and D. E. Koditschek
Electrical and Systems Engineering, University of Pennsylvania
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Abstract
       We document empirically stable bounding using an actively powered spine on the Inu quadrupedal robot, and propose a reduced-order model to capture the dynamics associated with this additional, actuated spine degree of freedom. This model is sufficiently accurate as to roughly describe the robots mass center trajectory during a bounding limit cycle, thus making it a potential option for low dimensional representations of spine actuation in steady-state legged locomotion.
BibTeX entry
@InProceedings{jdup_ICRA2017,
  Title                    = {Empirical validation of a spined sagittal-plane quadrupedal model},
  Author                   = {Jeffrey Duperret, and Daniel E. Koditschek},
  Booktitle                = {2017 IEEE International Conference on Robotics and Automation},
  Year                     = {2017(accepted)}
}

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