This paper presents a multipart pronking/bounding controller for a quadruped robot, as well as the corresponding experimental results. The controller achieves given apex height and forward velocity in a quadruped robot with only one actuator per leg. A quadruped is designed and built and described in some detail. Experimental results obtained using internal sensors and high-speed camera captions show that the implemented quadruped robot performs pronking gaits and achieves bounding gaits with the desired characteristics.
- Dynamic Systems and Control Division
Implementation of a Quadruped Robot Pronking/Bounding Gait Using a Multipart Controller
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Nikolakakis, A, Kontolatis, I, Cherouvim, N, Chatzakos, P, & Papadopoulos, E. "Implementation of a Quadruped Robot Pronking/Bounding Gait Using a Multipart Controller." Proceedings of the ASME 2010 Dynamic Systems and Control Conference. ASME 2010 Dynamic Systems and Control Conference, Volume 2. Cambridge, Massachusetts, USA. September 12–15, 2010. pp. 149-156. ASME. https://doi.org/10.1115/DSCC2010-4215
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