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This paper describes the development of an oscillator and reflex-based controller for a quadruped robot that does not use visual information about the physical properties of its environment. The periodic motions of the legs switch between the swing and stance phases based on the oscillator phases. The oscillator phase is reset by the touch sensor signal at the end of each leg when the leg touches...
An important topic in robotics is the design of a robot body using passive mechanical properties, such as viscoelasticity, to obtain energy-efficient locomotion at low computational costs. To achieve this aim, this study examines adopting a spinal structure with variable viscoelasticity and multiple joints. In order to investigate the effect of this spinal structure, a physical model of the spinal...
The development of an oscillator controller for a quadruped robot with antagonistic pairs of pneumatic actuators is reported. Periodic motions of the legs switch between the swinging and supporting stages based on the phase of the oscillators. The oscillators receive touch sensor signals at the end of the legs as feedback when the leg touches the ground and compose a steady limit cycle of the total...
The development of an oscillator controller for a quadruped robot with antagonistic pairs of pneumatic actuators is reported. Periodic motions of the legs switch between the swinging and supporting stages based on the phase of the oscillators. The oscillators receive touch sensor signals at the end of the legs as feedback when the leg touches the ground and compose a steady limit cycle of the total...
The development of an oscillator controller for a bipedal robot with antagonistic pairs of pneumatic actuators is reported. Periodic motions of the legs switch between the swinging and supporting stages based on the phase of the oscillators. The oscillators receive touch sensor signals at the end of the legs as feedback when the leg touches the ground and compose a steady limit cycle of the total...
The development of an oscillator controller for a bipedal robot with antagonistic pairs of pneumatic actuators is reported. Periodic motions of the legs switch between the swinging and supporting stages based on the phase of the oscillators. The oscillators receive touch sensor signals at the end of the legs as feedback when the leg touches the ground and compose a steady limit cycle of the total...
In this paper we present the system design and analysis of a quadruped robot, Rush, that we have constructed to study autonomous and efficient running on flat and rough terrain. The Rush robot is a compact, kneed, four legged machine with only one actuator per compliant leg. We have proposed a novel control strategy for the quadruped robot in consideration of several engineering limitations on sensory...
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