ICRA 2011 Paper Abstract


Paper TuP107.2

Culha, Utku (Bilkent University), Saranli, Uluc (Bilkent University)

Quadrupedal Bounding with an Actuated Spinal Joint

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots III" (TuP107), Tuesday, May 10, 2011, 13:55−14:10, Room 5B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Biologically-Inspired Robots, Multi-legged Robots


Most legged vertebrates use flexible spines and supporting muscles to provide auxiliary power and dexterity for dynamic behaviors, resulting in higher speeds and additional maneuverability during locomotion. However, most existing legged robots capable of dynamic locomotion incorporate only a single rigid trunk with actuation limited to legs and associated joints. In this paper, we investigate how quadrupedal bounding can be achieved in the presence of an actuated spinal joint and characterize associated performance improvements compared to bounding with a rigid robot body. In the context of both a new controller structure for bounding with a body joint and existing bounding controllers for the rigid trunk, we use optimization methods to identify the highest performance gait parameters and establish that the spinal joint allows increased forward speeds and hopping heights.



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