Role of Spine Compliance and Actuation in the Bounding Performance of Quadruped Robots

  title={Role of Spine Compliance and Actuation in the Bounding Performance of Quadruped Robots},
  author={Soha Pouya and Mohammad Khodabakhsh and Rico Moeckel},
There is so far no quadruped robot that exhibits locomotion performance matching to that shown by animals every day. Both differences in general design concepts, in available materials and actuation mechanisms as well as a lack of understanding on the control of the robots’ actuators contribute to the current performance gap between robotic platforms and their biological counterparts. While for example many legged animals actively take advantage of compliant spines for energy storage… CONTINUE READING


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