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Melnyk A, Pitti A. Synergistic control of a multi-segments vertebral column robot based on tensegrity for postural balance. Adv Robot 2018. [DOI: 10.1080/01691864.2018.1483209] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/13/2023]
Affiliation(s)
- Artem Melnyk
- Héphaïstos Project, Université Côte d'Azur, INRIA, France
| | - Alexandre Pitti
- Laboratoire ETIS, Université Paris Seine, Université de Cergy-Pontoise, CNRS UMR, ENSEA, Cergy-Pontoise, France
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Takuma T, Murata Y, Kase W. Design of Vertebrae-Inspired Trunk Mechanism for Robust and Directive Quadruped Locomotion on Rough Terrain Without Requiring Sensing and Actuation. JOURNAL OF ROBOTICS AND MECHATRONICS 2017. [DOI: 10.20965/jrm.2017.p0546] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
[abstFig src='/00290003/10.jpg' width='300' text='Quadruped robot equipping a vertebrae-inspired trunk mechanism' ] Quadrupedal animals adaptively change their trunk posture in order to avoid falling down and to facilitate directive locomotion even on rough terrain. This paper focuses on an animal-like trunk mechanism which has passive viscoelastic joints. The effect of the trunk mechanism is observed by changing the elasticity and configuration of joints. Simulation results showed that the locomotion success rate of a robot equipped with the trunk mechanism on rough terrain is higher than the locomotion success rate of a robot equipped with a rigid body. In addition, the distribution of the success rate changes according to the elastic coefficient, number, configuration, and type of joints. These results suggest a design principle for the trunk mechanism of a quadruped robot in order to obtain robust and directive locomotion without requiring sensors and actuators.
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3
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Wang C, Zhang T, Wei X, Long Y, Wang S. Dynamic characteristics and stability criterion of rotary galloping gait with an articulated passive spine joint. Adv Robot 2016. [DOI: 10.1080/01691864.2016.1256230] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/20/2022]
Affiliation(s)
- Chunlei Wang
- The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China
| | - Ting Zhang
- College of Mechanical Engineering, Shanghai University of Engineering Science, Shanghai, China
| | - Xiaohui Wei
- The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China
| | - Yongjun Long
- The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China
| | - Shigang Wang
- The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China
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