Using the Head to Stabilize a Quadrupedal Walker
Making a quadrupedal robotic machine walk is a problem with an infinity of solutions. Nevertheless, this question seems to have been solved successfully by mammals. Hence a particular approach in the design of walking robots has been considered, based on the animals movement characteristics. Indeed, studying animal walking can help produce a class of solutions towards the definition of quadrupedal robots. From this starting point, a model can be created according to a reduced number of criteria, notably the shape of the trajectory followed by the ankle or wrist during motion relatively to the hip or shoulder respectively. The problem lies in the difficulty to extract significant and valuable information from the simple observation of animal walking (Taylor, 1950). This paper presents a brief recounting of a method used to extract angular variations data from the observation of a walking hedgehog and the use of these data to create a 2 dimensional dynamical simulation model. This model is then used to produce a first series of simulation experiments.
KeywordsContact Force Sagittal Plane Revolute Joint Contact Phase Live Experiment
Unable to display preview. Download preview PDF.
- Alexander, R. McN., Langman, V.A., and Jayes, A.S. (1977). Fast locomotion of some african ungulates. Journal of Zoology, London 183: 291–300.Google Scholar
- Bruneau, O. (1998). Dynamic Simulation Tool for Biped Robots. In,12th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators (RoManSy), July 6–9, 1998 Paris, France. 1146–1152.Google Scholar
- Ferris, D.P., and, Farley, C.T. (1997). Fast Interaction of leg stiffness and surface stiffness during human hopping. Journal of Applied Physiology 80 (1): 15–22.Google Scholar
- Hill, A.V. (1950). The dimensions of animals and their muscular dynamics. Science Progress 38 (150): 209–229.Google Scholar
- McMahon, T.A. (1984). Muscles, Reflexes and Locomotion. Princeton University Press, 41 William street, Princeton, New Jersey.Google Scholar
- Schmiedeler,J.P., and Waldron, K.J.. (1998). Design of galloping machines. In,12th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators (RoManSy), July 6–9, 1998 Paris, France.Google Scholar
- Taylor, C.R. (1985). Force development during sustained locomotion: a determinant of gait, speed and metabolic power. Journal of exerimental Biology 115: 253–262.Google Scholar
- Villanova, J., Neveu, P., Guinot, J-C., Gasc J-P. (2000). Quadrupedal Mammal Locomotion Dynamics 2D Model. In Proceedings of the 2000 IEEE/RSJInternational Conference on Intelligent Robots and Systems on Artificial Intelligence, October 31–November 5, 2000 TakaMatsu, 1785–1790.Google Scholar