Cheetah quadruped compliant robot

The simulated Cheetah quadruped robot (simulation environment: Webots) performs a trot gait, with a joint control signal oscillating at frequencies up to 3.5Hz. Signal parameters are found through systematic testing. The cost function includes a mixture of speed and stability, for the latter we are measuring rolling and pitching of the robot body.
The Cheetah simulation model is developed at Biorob/EPFL in the context of the AMARSI EU project. It is distributed among partners of the AMARSI project to provide a simulator environment to test and analyse different robot locomotion control approaches (e.g. central
pattern generators, dynamical movement primitives, reservoir computing) to reach a higher level of robotic motor skills.
The Cheetah robot was developed at Biorob/EPFL (2008), it is a small bio-inspired, compliant quadruped robot with three-segment legs. An enhanced version will be designed and implemented as a common platform
for the AMARSI partners.
Find more information at
http://amarsi-project.eu

Category:

Science & Technology

Tags:

• Robotics
• Simulation
• Compliant
• compliance
• dog
• cheetah
• robot
• robots