Passive Dynamic Quadruped Robot Bounding with Front and Back Legs

Ch, Sivanand (2014) Passive Dynamic Quadruped Robot Bounding with Front and Back Legs. Masters thesis, Indian Institute of Technology, Hyderabad.

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Abstract

Numerical model of quadruped robot traversing with bounding gait is used for analysis of its stability and control. Understanding the properties of fixed points of quadruped model, a control law is proposed. With the help of controlled rotation using motors at the hip joint of the front and back leg this control is implemented. The touchdown and lift off angles are absolute angles which are defined with respect to vertical line. Stability and control of passive dynamic quadruped robot model is tested successfully at some unstable fixed points with this control.

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