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Comparison of leg dynamic models for quadrupedal robots with compliant backbone
Many quadrupeds are capable of power efficient gaits, especially trot and gallop, thanks to their flexible trunk. The oscillations of the system that includes the backbone, the tendons and musculature, store and release elastic energy, helping a smooth deceleration and a fast acceleration of the hin...
| Autores principales: | , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
Nature Publishing Group UK
2022
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9418320/ https://www.ncbi.nlm.nih.gov/pubmed/36028739 http://dx.doi.org/10.1038/s41598-022-18536-7 |