NTUA Quadruped Robot Bounding.avi

Initial results of the NTUA Quadruped Robot performing bounding gait.
The capture video aquired by a high speed camera @500Hz.

The NTUA Quadruped has 4 legs with springs, and with one dc motor per leg. The total mass of the robot is 11 kg, including motors, gearboxes, sensors, electronics, batteries and onboard computer.
The robot is released from a height of approximately 0.05 m above ground. This way of starting is necessary for achieving an initial spring compression. The robot continues its periodical motion through the separate phases that characterize the bounding gait. The experiments were carried out on a flat surface.
The controller is commanded to guide the robot in achieving gaits with desired forward speed 1.0m/s, apex heighth 0.29 m and body pitch velocity close to 0 deg/s.
More: http://csl-ep.mech.ntua.gr/projects/legged/legged.htm

Category:

Science & Technology

Tags:

• Robot
• Legged
• Quadruped
• Bounding Gait
• Underactuated