Abstract
This paper is concerned with locomotion systems modelling and control; in particular the locomotion of biomimetically inspired quadruped robots. Using observations and experimentations, we propose a virtual model of quadruped with no dorsal vertebrae, such as the case in the majority of legged mobile robots. This condition applies to the terrestrial tortoise and makes it a good example for bio-mimetic inspiration. Extensive experiments in vivo and in vitro are conducted to estimate the motion, the kinematics and the dynamic properties of two living subjects and a dead one. The experimental results are used to model, control and simulate the motion of a tortoise-like quadruped robot. The result is TATOR II, a successful example of robots mimicking the mechanical design and motion trajectories of animals; it is a linkage of 15 rigid bodies articulated by 22 degrees of freedom, it is built on the ADAMS- View platform and is shown to perform through animation with a motion controller. Analyses of the influence of the phase between legs on the robot speed are also presented. Conclusions and future Works are detailed.
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El Daou, H., Libourel, PA., Renoust, S., Belst, V., Guinot, JC. (2010). Motion and Force measures on tortoises to design and control a biomimetic quadruped robot. In: Parenti Castelli, V., Schiehlen, W. (eds) ROMANSY 18 Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 524. Springer, Vienna. https://doi.org/10.1007/978-3-7091-0277-0_20
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DOI: https://doi.org/10.1007/978-3-7091-0277-0_20
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-0276-3
Online ISBN: 978-3-7091-0277-0
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