Synergetic Effect between Limbs and Spine Dynamics in Quadruped Walking Robots
Longchuan Li Shugen Ma Isao Tokuda Fumihiko Asano Makoto Nokata Yang Tian Liang Du Longchuan Li Shugen Ma Isao Tokuda Fumihiko Asano Makoto Nokata Yang Tian Liang Du
Biological observations on tetrapods locomotion deduce that anti-phase synchronization (APS) between fore and rear parts is beneficial for achieving a high-speed walking. On the other hand, theoretical analysis and experimental studies on quadruped robots suggest that a flexible spine potentially improves the gait efficiency and adaptability via smoothing the ground collisions. However, these two ...