Running Quadruped Robot

High-speed Quadruped with Articulated Spine

Development of high-speed running quadruped with articulated spinal joint

High-speed quadruped robot with an articulated spinal join located in the body.

In this research, the effect of whole body compliance on the quadruped running was investigated and the principles of design & control of the whole body was implemented.

The robot with 10 DOF acticulated by Series Elastic Actuators (SEA), 2 DOF legs, 2 DOF body with a spinal joint in the middle. The location of the spinal joint in the body was also studied based on energy and performance criteria (Phan et al., 2017), (Phan et al., 2020).

The robot used EtherCAT as the real-time communication protocol and was able to run at 4 km/h.

Besides, a rigid-body quadruped robot with 3DOF legs was also built

Quadruped robot for daily services

References

2020

  1. ltphan2019.png
    Study on effects of spinal joint for running quadruped robots
    Luong Tin Phan, Yoon Haeng Lee, Young Hun Lee, and 3 more authors
    Intelligent Service Robotics, 2020

2017

  1. ltphan2017.png
    Stable running with a two-segment compliant leg
    Luong Tin Phan, Yoon Haeng Lee, Dong Youn Kim, and 2 more authors
    Intelligent Service Robotics, 2017