Romansy 14 pp 489-498 | Cite as

Using the Head to Stabilize a Quadrupedal Walker

  • Jérôme Villanova
  • Pauline Neveu
  • Jean-Pierre Gasc
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)


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.


Contact Force Sagittal Plane Revolute Joint Contact Phase Live Experiment 


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Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Jérôme Villanova
    • 1
  • Pauline Neveu
    • 2
  • Jean-Pierre Gasc
    • 2
  1. 1.Laboratoire de Robotique de ParisUPMC - UVSQ – CNRSFrance
  2. 2.Laboratoire d’Anatomie ComparéeMuseum National d’Histoire Naturelle – CNRSFrance

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