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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.

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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.
@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},
}

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