文档介绍：Mechanism and Machine Theory 44 (2009) 559–579
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Mechanism and Machine Theory
journal homepage: ate/mechmt
Bio-inspired design of electrically-driven bounding quadrupeds
via parametric analysis
Panagiotis Chatzakos, Evangelos Papadopoulos *
Department of Mechanical Engineering, National Technical University of Athens, 9 Heroon Polytechniou Street, Athens 157 80, Greece
article info abstract
Article history: This paper attempts to set the basis for a systematic approach in designing quadruped
Received 11 November 2007 robots employing a dynamically stable quadruped running in the sagittal plane with a
Received in revised form 23 July 2008 bounding gait, which is a simple monly used to analyze the basic qualitative
Accepted 26 August 2008
properties of quadruped gaits that use the legs in pair. The e of the proposed meth-
Available online 7 October 2008
odology is the optimal shape of the bounding quadruped robot, ., the relation between its
physical parameters, and the optimal size of the bounding quadruped robot, ., the phys-
ical magnitude of it, according to desired performance criteria. The performance criterion
Keywords:
introduced is based on: (a) the actuator effort to sustain an active gait, very close to a pas-
Systematic design
Quadruped robot sive one, and (b) the maximum payload capability of the robot for a target overall mass.
Dynamic running The parametric study examines the behavior of the performance criterion over a range
Parametric analysis of non-dimensional variables connected to robot physical parameters and gait characteris-
tics. The study takes into consideration data from experimental biology and ground surface
properties, while it is subject to the existing technological limitations and economic
restraints, ., the fact that there is a limited number of motor/binations avail-
able from a practical point of view. The findings from simulation results indicat