A passive dynamic walking quadruped with independently movable legs

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

This study is intended to deal with a passive dynamic walking quadruped with independently movable legs. Since no current investigation exists about whether such robots can be created or not, we attempt to develop one in a synthetic manner. More specifically, we employed a genetic algorithm to optimize body parameters. Through this synthetic design process, we found that the robots developed can show different gaits, i.e., "walk" and "pace", which have never been realized by a conventional passive dynamic walking quadruped. We also found that the implementation of "biarticular muscles" plays an essential role to elicit stable locomotion.

Original languageEnglish
Pages2953-2957
Number of pages5
Publication statusPublished - 2004 Dec 1
EventSICE Annual Conference 2004 - Sapporo, Japan
Duration: 2004 Aug 42004 Aug 6

Other

OtherSICE Annual Conference 2004
CountryJapan
CitySapporo
Period04/8/404/8/6

Keywords

  • Emergence
  • Independently movable legs
  • Passive Dynamic Walking
  • Quadruped robot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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