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Realization of a passive compliant robot dog

Francis wyffels UGent, Michiel D'Haene UGent, Tim Waegeman, Ken Caluwaerts, Conrado Nunes and Benjamin Schrauwen (2010) Proceedings of the 2010 3rd IEEE RAS & EMBS International conference on Biomedical Robotics and Biomechanics. p.882-886
abstract
Dogs are capable of showing rich motor skills in complex environments. No such capabilities have yet been seen in quadruped robots. In this work we present the design and realization of a biologically inspired quadruped robot based on a real dogs’ anatomy. This dog, referred to as the Reservoir Dog, is capable of autonomously showing multiple gaits such as walk, which require active retraction of the legs, and gallop, during which all four legs are lifted from the ground. Each leg consists of three segments of which two joints can be actively controlled and one joint is passively compliant. To keep the leg’s weight as low as possible all actuation is mounted on the body.
Please use this url to cite or link to this publication:
author
organization
year
type
conference (proceedingsPaper)
publication status
published
subject
in
Proceedings of the 2010 3rd IEEE RAS & EMBS International conference on Biomedical Robotics and Biomechanics
editor
Mamoru Mitsuishi and Masakatsu G Fujie
pages
882 - 886
publisher
IEEE
place of publication
New York, NY, USA
conference name
3rd IEEE/RAS-EMBS International conference on Biomedical Robotics and Biomechanics (BIOROB 2010)
conference location
Tokyo, Japan
conference start
2010-09-26
conference end
2010-09-29
Web of Science type
Proceedings Paper
Web of Science id
000287997100152
ISSN
2155-1774
ISBN
9781424477081
9781424477074
DOI
10.1109/BIOROB.2010.5628051
language
English
UGent publication?
yes
classification
P1
copyright statement
I have transferred the copyright for this publication to the publisher
id
1046003
handle
http://hdl.handle.net/1854/LU-1046003
date created
2010-09-27 04:20:59
date last changed
2017-01-02 09:52:40
@inproceedings{1046003,
  abstract     = {Dogs are capable of showing rich motor skills in complex environments. No such capabilities have yet been seen in quadruped robots. In this work we present the design and realization of a biologically inspired quadruped robot based on a real dogs{\textquoteright} anatomy. This dog, referred to as the Reservoir Dog, is capable of autonomously showing multiple gaits such as walk, which require active retraction of the legs, and gallop, during which all four legs are lifted from the ground. Each leg consists of three segments of which two joints can be actively controlled and one joint is passively compliant. To keep the leg{\textquoteright}s weight as low as possible all actuation is mounted on the body.},
  author       = {wyffels, Francis and D'Haene, Michiel and Waegeman, Tim and Caluwaerts, Ken and Nunes, Conrado and Schrauwen, Benjamin},
  booktitle    = {Proceedings of the 2010 3rd IEEE RAS \& EMBS International conference on Biomedical Robotics and Biomechanics},
  editor       = {Mitsuishi, Mamoru and Fujie, Masakatsu G},
  isbn         = {9781424477081},
  issn         = {2155-1774},
  language     = {eng},
  location     = {Tokyo, Japan},
  pages        = {882--886},
  publisher    = {IEEE},
  title        = {Realization of a passive compliant robot dog},
  url          = {http://dx.doi.org/10.1109/BIOROB.2010.5628051},
  year         = {2010},
}

Chicago
wyffels, Francis, Michiel D’Haene, Tim Waegeman, Ken Caluwaerts, Conrado Nunes, and Benjamin Schrauwen. 2010. “Realization of a Passive Compliant Robot Dog.” In Proceedings of the 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechanics, ed. Mamoru Mitsuishi and Masakatsu G Fujie, 882–886. New York, NY, USA: IEEE.
APA
wyffels, F., D’Haene, M., Waegeman, T., Caluwaerts, K., Nunes, C., & Schrauwen, B. (2010). Realization of a passive compliant robot dog. In M. Mitsuishi & M. G. Fujie (Eds.), Proceedings of the 2010 3rd IEEE RAS & EMBS International conference on Biomedical Robotics and Biomechanics (pp. 882–886). Presented at the 3rd IEEE/RAS-EMBS International conference on Biomedical Robotics and Biomechanics (BIOROB 2010), New York, NY, USA: IEEE.
Vancouver
1.
wyffels F, D’Haene M, Waegeman T, Caluwaerts K, Nunes C, Schrauwen B. Realization of a passive compliant robot dog. In: Mitsuishi M, Fujie MG, editors. Proceedings of the 2010 3rd IEEE RAS & EMBS International conference on Biomedical Robotics and Biomechanics. New York, NY, USA: IEEE; 2010. p. 882–6.
MLA
wyffels, Francis, Michiel D’Haene, Tim Waegeman, et al. “Realization of a Passive Compliant Robot Dog.” Proceedings of the 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechanics. Ed. Mamoru Mitsuishi & Masakatsu G Fujie. New York, NY, USA: IEEE, 2010. 882–886. Print.