Optimal Limb Length Ratio of Quadruped Robot Minimising Joint Torque on Slopes

This paper aims to determine an optimal structure for a quadruped robot, which will allow the robot’s joint torque sum to be minimised. An animal’s characteristic limb length ratio is a vital part of its overall morphology and the one that enables it to travel easily through its environment. For the...

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Bibliographic Details
Main Authors: Tadayoshi Aoyama, Kosuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda
Format: Article
Language:English
Published: Hindawi Limited 2009-01-01
Series:Applied Bionics and Biomechanics
Online Access:http://dx.doi.org/10.1080/11762320903093935