Free-standing leaping experiments with a power-autonomous elastic-spined quadruped

Jason L. Pusey; Jeffrey M. Duperret; G. Clark Haynes; Ryan Knopf; Daniel E. Koditschek

doi:10.1117/12.2016073

17 May 2013 Free-standing leaping experiments with a power-autonomous elastic-spined quadruped

Jason L. Pusey, Jeffrey M. Duperret, G. Clark Haynes, Ryan Knopf, Daniel E. Koditschek

Proceedings Volume 8741, Unmanned Systems Technology XV; 87410W (2013) https://doi.org/10.1117/12.2016073
Event: SPIE Defense, Security, and Sensing, 2013, Baltimore, Maryland, United States

Abstract

We document initial experiments with Canid, a freestanding, power-autonomous quadrupedal robot equipped with a parallel actuated elastic spine. Research into robotic bounding and galloping platforms holds scientific and engineering interest because it can both probe biological hypotheses regarding bounding and galloping mammals and also provide the engineering community with a new class of agile, efficient and rapidly-locomoting legged robots. We detail the design features of Canid that promote our goals of agile operation in a relatively cheap, conventionally prototyped, commercial off-the-shelf actuated platform. We introduce new measurement methodology aimed at capturing our robot’s “body energy” during real time operation as a means of quantifying its potential for agile behavior. Finally, we present joint motor, inertial and motion capture data taken from Canid’s initial leaps into highly energetic regimes exhibiting large accelerations that illustrate the use of this measure and suggest its future potential as a platform for developing efficient, stable, hence useful bounding gaits.

Citation Download Citation

Jason L. Pusey, Jeffrey M. Duperret, G. Clark Haynes, Ryan Knopf, and Daniel E. Koditschek "Free-standing leaping experiments with a power-autonomous elastic-spined quadruped", Proc. SPIE 8741, Unmanned Systems Technology XV, 87410W (17 May 2013); https://doi.org/10.1117/12.2016073

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