LOCOMOTION
Optimal limb length ratio of quadruped robot minimising joint torque on slopes
Tadayoshi Aoyama, Kosuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda
- Year
- 2009
- Citations
- 11
Abstract
This paper aims to determine an optimal structure for a quadruped robot, which will allow the robot's joint torque sum to be minimised. An animal's characteristic limb length ratio is a vital part of its overall morphology and the one that enables it
Keywords
TorqueRobotJoint (building)Control theory (sociology)Computer scienceEngineeringSimulationStructural engineeringPhysicsArtificial intelligence
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