Concept
Diplopoda
Publications associées (8)
Decoding the essential interplay between central and peripheral control in adaptive locomotion of amphibious centipedes
Amphibious animals adapt their body coordination to compensate for changing substrate properties as they transition between terrestrial and aquatic environments. Using behavioural experiments and mathematical modelling of the amphibious centipede Scolopend ...
2019Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs
Auke Ijspeert, Alexander Spröwitz, Mostafa Ajallooeian, Alexandre Tuleu
In this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were impl ...
Frontiers Research Foundation2014Towards Dynamic Trot Gait Locomotion—Design, Control and Experiments with Cheetah-cub, a Compliant Quadruped Robot
Auke Ijspeert, Massimo Vespignani, Mostafa Ajallooeian, Alexandre Tuleu
We present robot design and results from locomotion experiments with a novel, compliant quadruped robot: Cheetah-cub. The robot's leg configuration is based on a spring-loaded, panthograph-mechanism with multiple segments. A dedicated open-loop, joint-spac ...
2013Robot Trotting with Segmented Legs in Simulation and Hardware.
Massimo Vespignani, Alexander Spröwitz, Mostafa Ajallooeian, Alexandre Tuleu
This research is focusing on the implementation, testing, and analysis of quadrupedal, bio-inspired robot locomotion. Our tool of research is a light-weight, quadruped robot of the size of a house cat, both in simulation and hardware. We are currently foll ...
2012