@inproceedings{c7801ebbda4749f99bd527bcd5b3a9db,
title = "Reduction in body disturbance of quadruped robot using two moving appendage",
abstract = "In order to generate faster locomotion while balancing the entire robot body, posture control is important. This paper addresses the strategy for reduction in body disturbance (i.e., posture control) of a compliant legged quadruped robot using two moving appendages. The moving appendage is an inertial element in the form of a rack to balance the disturbing moments on the body. The rack can perform linear motion along the guideway provided on the body. The quadruped robot configuration used for the analysis is a two-link legged robot in which the upper link is rigid and the lower link is compliant. Better comprehension of the dynamic formulation is required for a complex system like quadruped robot, as dynamic modeling plays a vital role in such analyses. Here, a three dimensional model and posture control strategy are developed using bond graphs.",
keywords = "Dynamic modeling, Posture control, Quadruped",
author = "Gor, {M. M.} and Pathak, {P. M.} and Samantaray, {A. K.} and Yang, {J. M.} and Kwak, {S. W.}",
year = "2014",
language = "English",
isbn = "9781632667007",
series = "Simulation Series",
publisher = "The Society for Modeling and Simulation International",
number = "8",
pages = "85--92",
booktitle = "Proceedings of the 2014 Summer Simulation Multiconference, SummerSim 2014 - 2014 International Conference on Bond Graph Modeling and Simulation, ICBGM 2014",
edition = "8",
note = "2014 International Conference on Bond Graph Modeling and Simulation, ICBGM 2014, Part of the 2014 Summer Simulation Multiconference, SummerSim 2014 ; Conference date: 06-07-2014 Through 10-07-2014",
}