Quadruped robot with spine structure and simulation environment

摘要

Currently legged robots have limitation on walking speed or activity environment. A spine structure might be able to give a solution to this problem. The spine embedded in the quadruped robot we developed has mechanical flexibility. To handle the flexible structure in simulation, the method using FEM(Finite Element Method) software and mechanical analysis software is introduced. This paper describes the effectiveness of this method by showing the simulation and experimental results.