Quadrupedal bounding with spring-damper body joint

Ryuta Yamasaki; Yuichi Ambe; Shinya Aoi; Fumitoshi Matsuno

doi:10.1109/IROS.2013.6696685

Quadrupedal bounding with spring-damper body joint

Ryuta Yamasaki, Yuichi Ambe, Shinya Aoi, Fumitoshi Matsuno

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

14 Citations (Scopus)

Abstract

Stable locomotion indicates a stable limit cycle generated in the dynamic system. Although quadrupedal bound gait models have been investigated, there is no research which shows the generation of limit cycle and its dynamic properties. In the present study, we analyze a quadrupedal bound gait model which goes down slope and has back and front bodies with spring-damper joint between the bodies. We found the periodic bound gait which achieves a stable limit cycle and convergence property against perturbations.

Original language	English
Title of host publication	IROS 2013
Subtitle of host publication	New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages	2345-2350
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2013.6696685
Publication status	Published - 2013 Dec 1
Externally published	Yes
Event	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan Duration: 2013 Nov 3 → 2013 Nov 8

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Other

Other	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Country	Japan
City	Tokyo
Period	13/11/3 → 13/11/8

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2013.6696685

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Cite this

Quadrupedal bounding with spring-damper body joint. / Yamasaki, Ryuta; Ambe, Yuichi; Aoi, Shinya; Matsuno, Fumitoshi.

IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2013. p. 2345-2350 6696685 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Yamasaki, R, Ambe, Y, Aoi, S & Matsuno, F 2013, Quadrupedal bounding with spring-damper body joint. in IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems., 6696685, IEEE International Conference on Intelligent Robots and Systems, pp. 2345-2350, 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013, Tokyo, Japan, 13/11/3. https://doi.org/10.1109/IROS.2013.6696685

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