A Novel Lockable Spring-Loaded Prismatic Spine to Support Agile Quadrupedal Locomotion
Keran Ye,Kenneth Chung,Konstantinos Karydis,Keran Ye,Kenneth Chung,Konstantinos Karydis
This paper introduces a way to systematically investigate the effect of compliant prismatic spines in quadrupedal robot locomotion. We develop a novel spring-loaded lockable spine module, together with a new Spinal Compliance-Integrated Quadruped (SCIQ) platform for both empirical and numerical research. Individual spine tests reveal beneficial spinal characteristics like a degressive spring, and ...
