Lateral flexion of a compliant spine improves motor performance in a bioinspired mouse robot
A flexible spine is critical to the motion capability of most animals and plays a pivotal role in
their agility. Although state-of-the-art legged robots have already achieved very dynamic and …
their agility. Although state-of-the-art legged robots have already achieved very dynamic and …
Comparing the effect of different spine and leg designs for a small bounding quadruped robot
We present Lynx-robot, a quadruped, modular, compliant machine. It alternately features a
directly actuated, single-joint spine design, or an actively supported, passive compliant, multi …
directly actuated, single-joint spine design, or an actively supported, passive compliant, multi …
[HTML][HTML] Bionic multi-legged robots with flexible bodies: Design, motion, and control
X Li, Z Suo, D Liu, J Liu, W Tian, J Wang… - Biomimetics, 2024 - pmc.ncbi.nlm.nih.gov
Bionic multi-legged robots with flexible bodies embody human ingenuity in imitating,
learning, and exploring the natural world. In contrast to rigid-body robots, these robots with …
learning, and exploring the natural world. In contrast to rigid-body robots, these robots with …
Mechanism design of a biomimetic quadruped robot
Purpose This paper aims to introduce a novel design of the biomimetic quadruped robot,
including its body structure, three structural modes and respective workspace …
including its body structure, three structural modes and respective workspace …
Robot locomotion–a review
For a robotic machine to navigate through different geographical topographies, a platform
having multi terrain maneuver capability is required. There are several types of designs …
having multi terrain maneuver capability is required. There are several types of designs …
Spinal joint compliance and actuation in a simulated bounding quadruped robot
Spine movements play an important role in quadrupedal locomotion, yet their potential
benefits in locomotion of quadruped robots have not been systematically explored. In this …
benefits in locomotion of quadruped robots have not been systematically explored. In this …
Oncilla robot: a versatile open-source quadruped research robot with compliant pantograph legs
We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-
cat sized, 5.1 kg robot is one of a kind of a recent, bioinspired legged robot class designed …
cat sized, 5.1 kg robot is one of a kind of a recent, bioinspired legged robot class designed …
Spine morphology and energetics: how principles from nature apply to robotics
Inspired by the locomotive advantages that an articulated spine enables in quadrupedal
animals, we explore and quantify the energetic effect that an articulated spine has in legged …
animals, we explore and quantify the energetic effect that an articulated spine has in legged …
Bioinspired Soft Spine Enables Small-Scale Robotic Rat to Conquer Challenging Environments
R Wang, H **ao, X Quan, J Gao, T Fukuda, Q Shi - Soft Robotics, 2024 - liebertpub.com
For decades, it has been difficult for small-scale legged robots to conquer challenging
environments. To solve this problem, we propose the introduction of a bioinspired soft spine …
environments. To solve this problem, we propose the introduction of a bioinspired soft spine …
Learning active spine behaviors for dynamic and efficient locomotion in quadruped robots
In this work, we provide a simulation framework to perform systematic studies on the effects
of spinal joint compliance and actuation on bounding performance of a 16-DOF quadruped …
of spinal joint compliance and actuation on bounding performance of a 16-DOF quadruped …