Biomimetic Leg Design for Untethered Quadruped Gallop

Professional Engineering Publishing
Publication Type:
Conference Proceeding
Proceedings of the 5th International Conference on Climbing and Walking Robots and the Support for Mobile Technologies (CLAWAR), 2002, pp. 49 - 54
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Although there has been considerable work on artificial implementations of dynamic legged locomotion using various gaits, there has been little work on the gallop gaits. Ohio State (OSU) and Stanford Universities are cooperating to understand quadrupedal galloping through the design of a self-contained, biomimetic, galloping robot. The mechanical design of this machine is based on measurements of several quadrupedal animals, most notably the domestic goat (Capra).
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