Unlocking Versatile Locomotion: A Novel Quadrupedal Robot with 4-DoFs Legs for Roller Skating
Jiawei Chen,Ripeng Qin,Longfei Huang,Zongbo He,Kun Xu,Xilun Ding,Jiawei Chen,Ripeng Qin,Longfei Huang,Zongbo He,Kun Xu,Xilun Ding
Roller skating with passive wheels on a quadrupedal robot is more efficient than traditional walking. However, the typical mammalian quadruped robot with 3-DoFs legs can only perform one dynamic roller skating gait and has difficulty achieving turning motion. To address this limitation, we designed a novel quadrupedal robot with each leg having 4-DoFs to enable various roller skating locomotion in...
