This robustness, and the results of further experiments, are indicators of the self-stabilizing properties of the robot’s leg and locomotion patterns: all experiments were conducted in an open-loop fashion.Ĭheetah-cub robot is a 1kg machine of the size of a small house cat, or a young cheetah cub. The robot exhibits robust locomotion and self-stabilizing characteristics: even when it encounters perturbations at high speed such as a step-down, it will often successfully pass this obstacle (between 80% and 20% success rate depending on the height of the step down, with step-down heights up to 20% of the standing leg length). This makes Cheetah-cub robot the fastest running quadruped legged robot under 30kg (normalized speed via Froude number FR=1.3=(speed^2)/(G times leg length). We show experimental results where Cheetah-cub robot reaches 1.42m/s speed, almost seven body lengths per second. The paper includes topics such as Cheetah-cub’s bio-inspired leg and robot design, a locomotion controller based on coupled neuron-like oscillators (central pattern generator), extensive modeling of robot dynamics in an open dynamics engine based simulation environment (Webots), biomechanical experiments such as step-down perturbations and kinematic and dynamic gait measurements, and an extensive analysis of Cheetah-cub’s locomotion characteristics. This work appears in the IJRR OnlineFirst June 2013 issue.
This research describes the novel compliant quadruped robot Cheetah-cub, its implementation, and extensive testing and experimentation. PicturesĬopyright of pictures and videos: see the end of this page. This work is funded by the European Commission through the AMARSI project. Videos can also be found on our epflbiorob Youtube channel. More information including pictures, videos, publications, and a more detailed technical description can be found below on this page. This work appears in the IJRR OnlineFirst June 2013 issue (Monday June 17, 2013). This makes it an excellent tool for research of multi-segment legs in quadruped robots. 4) It is cheap, easy to reproduce, robust, and safe to handle. 3) It is lightweight, compact, electrically powered. 2) It shows self-stabilizing behavior over a large range of speeds with open loop control. 1) It is, to the best of our knowledge, the fastest of all quadruped robots below 30kg (in terms of Froude number and body lengths per second). This makes Cheetah-cub robot the fastest running quadruped legged robot under 30kg.Ĭheetah-Cub has several interesting features, especially when compared to larger and stiffer quadruped robot designs. It reaches 1.42m/s speed, almost seven body lengths per second.
The robot weights 1kg and is approximately 21cm long. We are glad to present Cheetah-cub, a compliant quadruped robot with the size of a small house cat, or a young cheetah cub.
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