LOCOMOTION
Compliant Leg Design for a Quadruped Robot
Alexander Sproewitz, Max Fremerey, Konstantinos Karakasiliotis, Simon Rutishauser, Ludovic Righetti, Auke Jan Ijspeert
- Year
- 2009
- Citations
- 3
- Access
- Open access
Abstract
We present the quadruped, compliant robot system Cheetah (Fig. 2(a)). Main features are light-weight, retractable, passive compliant two and three segmented legs. Knee joints are actuated using RC servo motors mounted proximal, force transmission is achieved by means of a Bowden cable system [1]. The leg design was loosely inspired by legs of mam-(a) Cheetah robot
Keywords
PantographComputer scienceRobotEngineeringSimulationArtificial intelligenceEngineering drawing
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