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Comparing trotting and turning strategies on the quadrupedal Oncilla Robot

Jonas Degrave (UGent) , Michaël Burm (UGent) , Tim Waegeman (UGent) , Francis wyffels (UGent) and Benjamin Schrauwen (UGent)
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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.
Keywords
Oncilla, Quadrupedal robot, Trotting gait, Turning, Tracking, GAIT

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Chicago
Degrave, Jonas, Michaël Burm, Tim Waegeman, Francis wyffels, and Benjamin Schrauwen. 2013. “Comparing Trotting and Turning Strategies on the Quadrupedal Oncilla Robot.” In 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 228–233. IEEE.
APA
Degrave, J., Burm, M., Waegeman, T., wyffels, F., & Schrauwen, B. (2013). Comparing trotting and turning strategies on the quadrupedal Oncilla Robot. 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) (pp. 228–233). Presented at the IEEE International Conference on Robotics and Biomimetics (ROBIO - 2013), IEEE.
Vancouver
1.
Degrave J, Burm M, Waegeman T, wyffels F, Schrauwen B. Comparing trotting and turning strategies on the quadrupedal Oncilla Robot. 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO). IEEE; 2013. p. 228–33.
MLA
Degrave, Jonas, Michaël Burm, Tim Waegeman, et al. “Comparing Trotting and Turning Strategies on the Quadrupedal Oncilla Robot.” 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO). IEEE, 2013. 228–233. Print.
@inproceedings{4215689,
  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.},
  author       = {Degrave, Jonas and Burm, Micha{\"e}l and Waegeman, Tim and wyffels, Francis and Schrauwen, Benjamin},
  booktitle    = {2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)},
  isbn         = {9781479927449},
  keyword      = {Oncilla,Quadrupedal robot,Trotting gait,Turning,Tracking,GAIT},
  language     = {eng},
  location     = {Shenzhen, China},
  pages        = {228--233},
  publisher    = {IEEE},
  title        = {Comparing trotting and turning strategies on the quadrupedal Oncilla Robot},
  year         = {2013},
}

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