scholarly journals A novel, bounding gait in swimming turtles: implications for aquatic locomotor diversity

2017 ◽  
Vol 220 (20) ◽  
pp. 3611-3615 ◽  
Author(s):  
Christopher J. Mayerl ◽  
Richard W. Blob
Keyword(s):  
Bounding Gait

A fast mesoscale quadruped robot using piezocomposite actuators

Robotica ◽  
2012 ◽  
Vol 31 (1) ◽  
pp. 89-98 ◽  
Author(s):  
Thanhtam Ho ◽  
Sangyoon Lee
Keyword(s):  
Quadruped Robot ◽  
Continuous Operation ◽  
Circuit Board ◽  
Small Power ◽  
Creative Idea ◽  
Heading Direction ◽  
Forward Locomotion ◽  
And Control ◽  
Bounding Gait ◽  
Actuation Power

SUMMARYThis paper introduces the design, analysis, and experimental results of a fast mesoscale (12 cm length) quadruped mobile robot that employs unconventional actuators. Four legs of the robot are actuated by two pieces of piezocomposite actuator named LIPCA, which enables the robot to achieve the bounding gait with only one degree of freedom per leg. The forward locomotion is obtained by a creative idea in the design and the speed can be controlled by changing the frequency of actuators. The mechanism of power transfer has been improved in order to use the actuation power more efficiently. Two small RC-servo motors are added to control the locomotion direction. In addition, a small power supply and control circuit is developed that is fit for the robot. Our experiments show that the robot can locomote as fast as about two times its body length per second with the circuit board and a battery installed. The robot is also able to change the heading direction in a controlled way and is capable of continuous operation for 35 min.

scholarly journals The effect of head movement on the bounding gait of a quadruped robot with an active spine

2019 ◽  
Vol 11 (9) ◽  
pp. 168781401987618
Author(s):  
Dongliang Chen ◽  
Chen Gong ◽  
Fuze Xing ◽  
Changhe Zhou ◽  
Mengfei Qi ◽  
...  
Keyword(s):  
Theoretical Analysis ◽  
Head Movement ◽  
Pitch Angle ◽  
Center Of Mass ◽  
Quadruped Robot ◽  
Head Motion ◽  
Common Phenomenon ◽  
Simulation And Experiment ◽  
Mass Position ◽  
Bounding Gait

It is a common phenomenon in the movement of the quadruped mammals accompanied with head swings. Inspired by this, this article attempts to add head motion to the bounding gait of a quadruped robot. According to the theoretical analysis, there are two main functions of the head. First, the head can realize the active control of the center of mass position of the robot, which is of great significance to the stable motion of the robot. Second, the swing of the head plays a role in regulating the pitch angle of the torso and improves the coordination and stability of the motion. A simplified quadruped robot model with a head and spine joint is established and analyzed theoretically. The regularity of head movement in periodic bounding gait is summarized. Through simulation and experiment, we confirm the two roles of the head in the bounding gait of a quadruped robot.

Implementation of a Quadruped Robot Pronking/Bounding Gait Using a Multipart Controller

2010 ◽  
Author(s):  
Alexandros Nikolakakis ◽  
Ioannis Kontolatis ◽  
Nicholas Cherouvim ◽  
Panagiotis Chatzakos ◽  
Evangelos Papadopoulos
Keyword(s):  
High Speed ◽  
Quadruped Robot ◽  
Experimental Results ◽  
High Speed Camera ◽  
Apex Height ◽  
Bounding Gait

This paper presents a multipart pronking/bounding controller for a quadruped robot, as well as the corresponding experimental results. The controller achieves given apex height and forward velocity in a quadruped robot with only one actuator per leg. A quadruped is designed and built and described in some detail. Experimental results obtained using internal sensors and high-speed camera captions show that the implemented quadruped robot performs pronking gaits and achieves bounding gaits with the desired characteristics.

Postnatal development of body architecture and gait in several rodent species.

1997 ◽  
Vol 200 (9) ◽  
pp. 1339-1350 ◽  
Author(s):  
D Eilam
Keyword(s):  
Developmental Stages ◽  
Body Morphology ◽  
Quadruped Locomotion ◽  
Form And Function ◽  
Adult Body ◽  
Key Factor ◽  
Species Comparisons ◽  
Meriones Tristrami ◽  
And Function ◽  
Bounding Gait

Observations on five species of rodents, vole (Microtus socialis), gerbil (Gerbillus dasyurus), jird (Meriones tristrami), dormouse (Eliomys melanurus) and jerboa (Jaculus orientalis), revealed that, during the period when their neonates share a matching morphology, they also share the same forms of quadruped locomotion (gaits). The order in which the different gaits develop is similar in all species, beginning with the basic gaits of lateral walk and trot. Gaits and body morphology do not undergo further changes in voles, whereas the other species incorporate more specialized gaits later in ontogeny, when the adult body morphology has been attained. Gerbils and jirds incorporate a bounding gait, dormice incorporate galloping and jerboas incorporate bipedal running. Species with more specialized locomotion thus undergo more developmental stages than those with less specialized locomotion. Except for the jerboa, the nesting period was roughly the same for all species, but those with more specialized locomotion exhibited earlier onset of the basic gaits as if condensing their development in order to reach the adult gait within the same nesting period. Consequently, the adult gait emerges approximately 10 days before the end of nesting, regardless of nesting duration. Since growth rate does not seem to account for the differences in morphology and onset of gaits, the heterochrony in the observed species probably stems from differences in the duration of growth, which seems to be the key factor in the diversion from the basic common morphology. The present results reconfirm the traditional generalities of functional morphology derived from cross-species comparisons. In addition, they provide another perspective by comparing form and function within the same individuals in the course of ontogeny.

Turning strategies for the bounding quadruped robot with an active spine

2018 ◽  
Vol 45 (5) ◽  
pp. 657-668 ◽  
Author(s):  
Zhong Wei ◽  
Guangming Song ◽  
Huiyu Sun ◽  
Qien Qi ◽  
Yuan Gao ◽  
...  
Keyword(s):  
Oscillation Amplitude ◽  
Initial Position ◽  
Quadruped Robot ◽  
Content Type ◽  
Quadruped Robots ◽  
Spine Motion ◽  
Real Robot ◽  
Turning Radius ◽  
Bounding Gait ◽  
Bounding Locomotion

Purpose This paper aims to study the turning strategies for the bounding quadruped robot with an active spine and explore the significant role of the spine in the turning locomotion. Design/methodology/approach Firstly, the bounding gait combining the pitch motion of the spine with the leg motion is presented. In this gait, the spine moves in phase with the front legs. All the joints of the legs and spine are controlled by cosine signals to simplify the control, and the initial position and oscillation amplitude of the joints can be tuned. To verify the effectiveness of the proposed gait, the spine joints are set with different initial positions and oscillation amplitudes, and the initial position and oscillation amplitude of the leg joints are tuned to make the virtual model do the best locomotion in terms of the speed and stability in the simulation. The control signals are also used to control a real robot called Transleg. Then, three different turning strategies are proposed, including driving the left and right legs with different strides, swaying the spine in the yaw direction and combining the above two methods. Finally, these strategies are tested on the real robot. Findings The stable bounding locomotion can be achieved using the proposed gait. With the spine motion, the speed of the bounding locomotion is increased; the turning radius is reduced; and the angular velocity is increased. Originality/value A simple and flexible planning of the bounding gait and three turning strategies for the bounding quadruped robot are proposed. The effectiveness of the proposed bounding gait, along with the beneficial effect of the spine motion in the yaw direction on the turning locomotion is demonstrated with the computer simulations and robot experiments. This will be instructive for the designing and actuating of the other quadruped robots.

On the Stability of the Passive Dynamics of Quadrupedal Running with a Bounding Gait

2006 ◽  
Vol 25 (7) ◽  
pp. 669-687 ◽  
Author(s):  
Ioannis Poulakakis ◽  
Evangelos Papadopoulos ◽  
Martin Buehler
Keyword(s):  
Passive Dynamics ◽  
The Stability ◽  
Bounding Gait

A tether-less Legged Piezoelectric Miniature Robot using bounding gait locomotion for bidirectional motion

2016 ◽  
Author(s):  
Hassan H. Hariri ◽  
Leonardus A. Prasetya ◽  
Shaohui Foong ◽  
Gim Song Soh ◽  
Kevin N. Otto ◽  
...  
Keyword(s):  
Miniature Robot ◽  
Bounding Gait

Control of a cheetah robot in passive bounding gait

2016 ◽  
Vol 13 (2) ◽  
pp. 283-291 ◽  
Author(s):  
Hua Nie ◽  
Ronglei Sun ◽  
Liya Hu ◽  
Zhendong Su ◽  
Wenqiang Hu
Keyword(s):  
Bounding Gait
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