A Flexible-Waist Quadruped Robot Imitating Infant Crawl

摘要

Through investigating a 1-year-old human baby's body and crawl movement, an infant-sized quadruped robot "Babybot" is designed. The robot has a mechanism of two passive DOFs in its waist, namely the flexible waist. The biologically-inspired Central Pattern Generator (CPG) is employed for controlling Babybot's locomotion. The results of dynamic simulation show Babybot can crawl in a natural infant-like way and the flexible waist can improve the robot's crawling performance.