A Pneumatically Actuated Quadrupedal Walking Robot

  title={A Pneumatically Actuated Quadrupedal Walking Robot},
  author={Keith W. Wait and Michael Goldfarb},
  journal={IEEE/ASME Transactions on Mechatronics},
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
Highly Cited
This paper has 24 citations. REVIEW CITATIONS
11 Citations
48 References
Similar Papers


Publications citing this paper.
Showing 1-10 of 11 extracted citations


Publications referenced by this paper.
Showing 1-10 of 48 references

Enhanced performance and stability in pneumatic servosystems with supplemental mechanical damping

  • K. W. Wait, M. Goldfarb
  • J. Dyn. Syst. Meas. Control, vol. 132, no. 4, pp…
  • 2010
Highly Influential
6 Excerpts

Joint control of the six-legged robot AirBug driven by fluidic muscles

  • T. Kerscher, J. Albiez, K. Berns
  • Proc. Robot Motion Control Conf., 2002, pp. 27–32…
  • 2002
Highly Influential
6 Excerpts

Design of a small pneumatic walking robot

  • M. Binnard
  • M.S. Thesis, Dept. Mech. Eng., Massachusetts Inst…
  • 1995
Highly Influential
7 Excerpts

Similar Papers

Loading similar papers…