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Free-Standing Leaping Experiments with a Power-Autonomous, Elastic-Spined Quadruped

Proceedings of the SPIE Defense, Security, and Sensing Conference, Unmanned Systems Technology XV (8741), April 2013

Jason L. Pusey+, Jeffrey M. Duperret*, G. Clark Haynes‡, Ryan Knopf*, and D. E. Koditschek*
+: Army Research Laboratory
*: University of Pennsylvania
‡: National Robotic Engineering Center
Full PDF | Web Link | Penn Scholarly Commons

      We document initial experiments with Canid, a freestanding, power-autonomous quadrupedal robot equipped with a parallel actuated elastic spine. Research into robotic bounding and galloping platforms holds scientific and engineering interest because it can both probe biological hypotheses regarding bounding and galloping mammals and also provide the engineering community with a new class of agile, efficient and rapidly-locomoting legged robots. We detail the design features of Canid that promote our goals of agile operation in a relatively cheap, conventionally prototyped, commercial off-the-shelf actuated platform. We introduce new measurement methodology aimed at capturing our robot’s “body energy” during real time operation as a means of quantifying its potential for agile behavior. Finally, we present joint motor, inertial and motion capture data taken from Canid’s initial leaps into highly energetic regimes exhibiting large accelerations that illustrate the use of this measure and suggest its future potential as a platform for developing efficient, stable, hence useful bounding gaits.
This work is supported by the National Science Foundation Graduate Research Fellowship under Grant Number DGE-0822, and by the Army Research Laboratory under Cooperative Agreement Number W911NF-10–2−0016.
BibTeX entry
  title={Free-standing leaping experiments with a power-autonomous elastic-spined quadruped},
  author={Pusey, Jason L and Duperret, Jeffrey M and Haynes, G Clark and Knopf, Ryan and Koditschek, Daniel E},
  editor={ },
  booktitle={SPIE Defense, Security, and Sensing},
  doi = {10.1117/12.2016073},
  organization={International Society for Optics and Photonics}

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