Enhanced Quadruped Locomotion of a Rat Robot Based on the Lateral Flexion of a Soft Actuated Spine
Yuhong Huang,Zhenshan Bing,Florian Walter,Alex Rohregger,Zitao Zhang,Kai Huang,Fabrice O. Morin,Alois Knoll,Yuhong Huang,Zhenshan Bing,Florian Walter,Alex Rohregger,Zitao Zhang,Kai Huang,Fabrice O. Morin,Alois Knoll
In nature, the movement of quadrupeds is completed under the combined action of the spine and the legs. Inspired by this, this paper explores the effect of a lateral flexing spine on the locomotion of a rat robot. Benefiting from the regular lateral flexion of a soft actuated spine, the rat robot exhibits enhance step length of its hind legs and increased translational velocity by coordinating the...
