Implementation of a Quadruped Robot Pronking / Bounding Gait Using a Multipart Controller

Abstract

This paper presents a multipart pronking/ bounding controller for a quadruped robot, as well as the corresponding experimental results. The controller achieves given apex height and forward velocity in a quadruped robot with only one actuator per leg. A quadruped is designed and built and described in some detail. Experimental results obtained using internal sensors and highspeed camera captions show that the implemented quadruped robot performs pronking gaits and achieves bounding gaits with the desired characteristics.

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Cite this paper

@inproceedings{Nikolakakis2010ImplementationOA, title={Implementation of a Quadruped Robot Pronking / Bounding Gait Using a Multipart Controller}, author={Alexandros Nikolakakis and Ioannis Kontolatis and Nicholas Cherouvim and Panagiotis Chatzakos and Evangelos Papadopoulos}, year={2010} }