Bio-inspired design of electrically-driven bounding quadrupeds via parametric analysis

  title={Bio-inspired design of electrically-driven bounding quadrupeds via parametric analysis},
  author={Panagiotis Chatzakos and Evangelos Papadopoulos},
This paper attempts to set the basis for a systematic approach in designing quadruped robots employing a dynamically stable quadruped running in the sagittal plane with a bounding gait, which is a simple model commonly used to analyze the basic qualitative properties of quadruped gaits that use the legs in pair. The outcome of the proposed methodology is the optimal shape of the bounding quadruped robot, i.e., the relation between its physical parameters, and the optimal size of the bounding… CONTINUE READING
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