Design of galloping robots with elastic spine: tracking relations between dynamic model parameters based on motion analysis of a real cheetah
Olga Borisova,Ivan Borisov,Sergey Kolyubin,Stefano Stramigioli,Olga Borisova,Ivan Borisov,Sergey Kolyubin,Stefano Stramigioli
One way to create a quadruped galloping robot from scratch is to design a brick-shaped body and utilize relatively simple open-chain leg mechanisms controlled with relatively complex control algorithms. Alternatively, we can look at how nature solved the same task designing fast mammals such as cheetah, and by means of morphological computation, we can design a complex mechanical system that has m...
