Smooth Stride Length Change of Rat Robot with a Compliant Actuated Spine Based on CPG Controller

Yuhong Huang,Zhenshan Bing,Zitao Zhang,Kai Huang,Fabrice O. Morin,Alois Knoll,Yuhong Huang,Zhenshan Bing,Zitao Zhang,Kai Huang,Fabrice O. Morin,Alois Knoll

The aim of this research is to investigate the relationship between spinal flexion and quadruped locomotion in a rat robot equipped with a compliant spine, controlled by a central pattern generator (CPG). The study reveals that spinal flexion can enhance limb stride length, but it may also cause significant and unexpected motion disturbances during stride length variations. To address this issue, ...