Evaluation of Hip Kinematics Influence on the Performance of a Quadrupedal Robot Leg

Navvab Kashiri, Arash Ajoudani, Darwin G. Caldwell, Nikos G. Tsagarakis

2016

Abstract

As a major inspiration of biologically inspired systems, multi-legged robots have been developed due to their superior stability feature resulting from their large support polygon. The leg design of a majority of such robots is motivated by the skeleton of vertebrates such as dogs, or that of invertebrates such as spiders. Despite a wide variety of multi-pedal robots on the basis of the two aforesaid leg designs, a thorough comparison of the two underlying design principles remains to be done. This work addresses this problem and presents a comparative study for the two mammal-like and spider-like designs by looking at the joint torque profile, the responsive motion of the legs, and the thrust force applied by the robot. To this end, a set of performance indexes are defined based on the gravity compensation torque, the dynamic manipulability polytope and the force polytope, and evaluated in various leg configurations of the two designs.

Paper Citation

in Harvard Style

Kashiri N., Ajoudani A., Caldwell D. and Tsagarakis N. (2016). Evaluation of Hip Kinematics Influence on the Performance of a Quadrupedal Robot Leg . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-198-4, pages 205-212. DOI: 10.5220/0005986502050212

in Bibtex Style

@conference{icinco16,
author={Navvab Kashiri and Arash Ajoudani and Darwin G. Caldwell and Nikos G. Tsagarakis},
title={Evaluation of Hip Kinematics Influence on the Performance of a Quadrupedal Robot Leg},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2016},
pages={205-212},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005986502050212},
isbn={978-989-758-198-4},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Evaluation of Hip Kinematics Influence on the Performance of a Quadrupedal Robot Leg
SN - 978-989-758-198-4
AU - Kashiri N.
AU - Ajoudani A.
AU - Caldwell D.
AU - Tsagarakis N.
PY - 2016
SP - 205
EP - 212
DO - 10.5220/0005986502050212