Name
Abstract | ||
|---|---|---|
Legged robots are very promising for use in real-world applications, but their operation in narrow spaces is still challenging. One solution for enhancing their environmental adaptability is to design a small-sized biomimetic robot capable of performing multiple motions. By capturing a decent representation of an actual rat (
<italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">rattus norvegicus</i>
), we developed a small-sized quadruped robotic rat (SQuRo), which includes four limbs and one flexible spine. On the basis of the extracted key movement joints, SQuRo was subtly designed with a relatively elongated slim body (aspect ratio: 3.42) and smaller weight (220 g) compared with quadruped robots of the same scale. Accordingly, we propose a control framework for multimodal motion planning, and the appropriate control parameters were tuned through optimization with consideration to the stability and actuation limits. The results obtained through a series of experimental tests reveal that SQuRo achieves a superior motion performance compared with existing state-of-the-art small-sized quadruped robots. Remarkably, SQuRo has an extremely small turning radius (0.48 BL) and strong payload capacity (200 g), and it can recover from falls. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1109/TRO.2022.3159188 | IEEE Transactions on Robotics |
Keywords | DocType | Volume |
Biologically inspired robots,biomimetics,motion control,small-sized quadruped robots | Journal | 38 |
Issue | ISSN | Citations |
5 | 1552-3098 | 0 |
PageRank | References | Authors |
0.34 | 16 | 7 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Qing Shi | 1 | 9 | 7.73 |
| Junhui Gao | 2 | 0 | 0.34 |
| Shengjie Wang | 3 | 0 | 0.34 |
| Xiaolong Quan | 4 | 0 | 0.34 |
| Guanglu Jia | 5 | 1 | 2.38 |
| Qiang Huang | 6 | 266 | 91.95 |
| Toshio Fukuda | 7 | 2723 | 818.58 |