Oncilla robot: a light-weight bio-inspired quadruped robot for fast locomotion in rough terrain

摘要: : On the hardware level, we are proposing and testing a bio-inspired quadruped robot design (Oncilla robot), based on light-weight, compliant, three-segmented legs. Our choice of placing compliance such that it is spanning two joints enforces non-linear spring stiffness. Based SLIP-model assumption, compare progressive degressive stiffness profiles against linear-leg To facilitate fast throughout also control approaches have created model Oncilla in simulation (in Webots [1], physics-based environment). Here presenting new results open-loop-central pattern generator (CPG) PSOoptimization CPG parameters. equipped with passive compliant elements its legs, apply different strategies to make use legs’ during stance phase. This enables us find stable trot gait patterns propelling up 1 m/s (more than four times robot’s leg length), depending applied phase leg-strategy. Different emerge, resulting gaits variable stability (tested as robustness external perturbations) speed