Comparing trotting and turning strategies on the quadrupedal Oncilla Robot
- Author
- Jonas Degrave (UGent) , Michaël Burm (UGent) , Tim Waegeman, Francis wyffels (UGent) and Benjamin Schrauwen (UGent)
- Organization
- 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
Downloads
-
IEEE RobIO 1 .pdf
- full text
- |
- open access
- |
- |
- 1.16 MB
Citation
Please use this url to cite or link to this publication: http://hdl.handle.net/1854/LU-4215689
- MLA
- Degrave, Jonas, et al. “Comparing Trotting and Turning Strategies on the Quadrupedal Oncilla Robot.” 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), IEEE, 2013, pp. 228–33.
- 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), 228–233. IEEE.
- Chicago author-date
- 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), 228–33. IEEE.
- Chicago author-date (all authors)
- 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.
- Vancouver
- 1.Degrave J, Burm M, Waegeman T, wyffels F, Schrauwen B. Comparing trotting and turning strategies on the quadrupedal Oncilla Robot. In: 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO). IEEE; 2013. p. 228–33.
- IEEE
- [1]J. Degrave, M. Burm, T. Waegeman, F. wyffels, and B. Schrauwen, “Comparing trotting and turning strategies on the quadrupedal Oncilla Robot,” in 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), Shenzhen, China, 2013, pp. 228–233.
@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, Michaël and Waegeman, Tim and wyffels, Francis and Schrauwen, Benjamin}},
booktitle = {{2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)}},
isbn = {{9781479927449}},
keywords = {{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}},
}