Optimizing Dynamic Balance in a Rat Robot via the Lateral Flexion of a Soft Actuated Spine
Yuhong Huang,Zhenshan Bing,Zitao Zhang,Genghang Zhuang,Kai Huang,Alois Knoll,Yuhong Huang,Zhenshan Bing,Zitao Zhang,Genghang Zhuang,Kai Huang,Alois Knoll
Balancing oneself using the spine is a physiological alignment of the body posture in the most efficient manner by the muscular forces for mammals. For this reason, we can see many disabled quadruped animals can still stand or walk even with three limbs. This paper investigates the optimization of dynamic balance during trot gait based on the spatial relationship between the center of mass (CoM) a...
