BigDog, the Rough-Terrain Quadruped Robot

Raibert, Marc H.; Blankespoor, Kevin; Nelson, Gabriel M.; Playter, Rob

doi:10.3182/20080706-5-kr-1001.01833

Cited by 1,124 publications

(672 citation statements)

References 4 publications

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“…One of the main reasons for this is that legged robots are better suited to walk over rough, irregular terrain compared to their wheeled counterparts [1]. Current examples of such legged robots used for research are for instance BigDog [2], Hyq [3] and StarlETH [4].…”

Section: Introductionmentioning

confidence: 99%

Comparing trotting and turning strategies on the quadrupedal oncilla robot

Degrave

Burm

Waegeman

et al. 2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Abstract-In this paper, we compare three different trotting techniques and five different turning strategies on a small, compliant, biologically inspired quadrupedal robot, the Oncilla. The locomotion techniques were optimized on the actual hardware using a treadmill setup, without relying on models. We found that using half ellipses as foot trajectories resulted in the fastest gaits, as well as the highest robustness against parameter changes. Furthermore, we analyzed the importance of using the scapulae for turning, from which we observed that although not necessary, they are needed for turning with a higher speed.

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Section: Introductionmentioning

confidence: 99%

Comparing trotting and turning strategies on the quadrupedal oncilla robot

Degrave

Burm

Waegeman

et al. 2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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“…The performance of quadruped robot mainly depends on whether they have good driving characteristics, compact bionic mechanism and high robustness control system, and the top two because is based on performance of quadruped robot which has been the focus of the research on quadruped robot [1,2].…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis the Hybrid Linkage Walking Mechanism Based on the Variable Stiffness Active Flexibility Joint

Yan-lei¹,

Zhang²,

Liu³

et al. 2017

dtetr

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Abstract. Quadruped robots have been widely applied for the advantage of flexible mobile way. However, most of quadruped robots have large inertia and an impact load between the foot endpoint and ground in the process of movement because of series connection way. In order to solve the problems, a new mechanism of quadruped robot is designed and analyzed based on the active flexible joint with variable stiffness.

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“…In recent few decades, due to the better performance of the legged robots in the challenging terrain, the number of work related to legged robots increased in the Robotics [1][2][3]. The most remarkable of these studies is the BigDog project, which is funding by DARPA [1].…”

Section: Introductionmentioning

confidence: 99%

“…But, hydraulic actuation systems are highly nonlinear systems and difficult to control. In this context, designing a proper controller is challenging for hydraulic systems [1][2][3][4].…”

Section: Introductionmentioning

confidence: 99%

Optimization of PID controller based on The Bees Algorithm for one leg of a quadruped robot

Bakırcıoğlu

Şen

Kalyoncu

2016

MATEC Web of Conferences

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Abstract.In this paper, we apply The Bees Algorithm to find optimal PID controller gains to control angular positions of robot leg joints with the minimum position error. In order to present more realistic simulation, system modelled in MATLAB/Simulink environment which is close to experimental set up. Solid model of system, which has two degrees of freedom, drawn by using a CAD software. Required physical specifications of robot leg for MATLAB/Simulink modelling is obtained from this CAD model. Controller of the system is designed in MATLAB/Simulink interface. Simulation results derived to show effectiveness of The Bees Algorithm to find optimal PID controller gains.

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BigDog, the Rough-Terrain Quadruped Robot

Cited by 1,124 publications

References 4 publications

Comparing trotting and turning strategies on the quadrupedal oncilla robot

Comparing trotting and turning strategies on the quadrupedal oncilla robot

Design and Analysis the Hybrid Linkage Walking Mechanism Based on the Variable Stiffness Active Flexibility Joint

Optimization of PID controller based on The Bees Algorithm for one leg of a quadruped robot

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