%0 Journal Article
%T On Passive Quadrupedal Bounding with Flexible Linear Torso
%J International Journal of Robotics, Theory and Applications
%I K.N. Toosi University of Technology
%Z 2008-7144
%A Papadopoulos, Evangelos
%A Koutsoukis, Konstantinos
%D 2015
%\ 09/01/2015
%V 4
%N 2
%P 1-8
%! On Passive Quadrupedal Bounding with Flexible Linear Torso
%K Legged robots
%K Passive quadruped
%K Flexible linear torso
%R
%X This paper studies the effect of flexible linear torso on the dynamics of passive quadruped bounding. A reduced-order passive and conservative model with linear flexible torso and springy legs is introduced. The model features extensive spine deformation during high-speed bounding, resembling those observed in a cheetah. Fixed points corresponding to cyclic bounding motions are found and calculated using numerical return map methodologies. Results show that the corresponding robot gaits and the associated performance resemble those of its natural counterparts.
%U http://ijr.kntu.ac.ir/article_12520_105ebf10e082ab5efcc5f785ca07bfb9.pdf