A Pneumatically Actuated Quadrupedal Walking Robot

@article{Wait2014APA,
  title={A Pneumatically Actuated Quadrupedal Walking Robot},
  author={Keith W. Wait and Michael Goldfarb},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2014},
  volume={19},
  pages={339-347}
}
This paper describes the mechanical design and control of a pneumatic quadrupedal robot. Additionally, the authors propose a method of joint control that combines stance/swing gain scheduling with open-loop damping, the combination of which provides stable joint level control, without the oscillatory behavior associated with pneumatically actuated walking robots. A set of joint trajectories are described to provide stable walking. The joint trajectories and joint-level controllers are… CONTINUE READING
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