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This paper presents the detailed steps for design and development of a compliant legged fault tolerant quadruped robot where each leg has two links and two motorized revolute joints for locomotion. The body and upper links of legs are rigid whereas the lower link of each leg is compliant. Amble gait is demonstrated on the developed robot. Safety and reliability are the most critical issues for the...
Quadruped robots offer better maneuverability over wheeled mobile robots. However, a quadruped robot contains many joint actuators which have to operate in a coordinated fashion to achieve the desired locomotion. Joint actuations cause various degrees of disturbance on the robot body and may even destabilize the system. Thus, prior dynamic analysis plays an important role for development of control...
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