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The Quasi-Passive Quadruped Robot walking: PASIQUAD

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URI: https://hdl.handle.net/10016/38575
DOI: https://doi.org/10.15406/iratj.2017.02.00028
UXXI: AR/0000022521
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quassi-passive_IRAJ_2017.pdf (841.4 KB)
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2017-06-20
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MedCrave Group, LLC
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Abstract
The design of the four legged walking robot "PASIQUAD" is presented in this article. It was designed in the university Carlos III of Madrid. It is a quadruped quasi-passive robot (with only one motor/actuator). The manuscript is focused on how the PASIQUAD walks and the kinematics and dynamics of the movement. In the manuscript the position, velocity and acceleration of each of its parts, as well as all the forces and torques on each of them, motor torque included, will be explain. The PASIQUAD robot copy the movement of animals and it is almost passive. That is a big advantage in energy cost.
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Robotics, Passive, Quadruped, Design, Walking robots
Bibliographic citation
Corral, E., Gómez, M. J., Alonso, J., & García-Prada, J. C. (2017). The Quasi-Passive quadruped robot walking: PASIQUAD. International robotics & automation journal, 2(4), p. 141-145
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