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- W3202495234 abstract "Quadrupeds like cats are able to pass through vary narrow gaps or holes which are much smaller than their body. This is owing to the inherent softness and flexibility of their body structures especially the torso. However, very few of current quadruped robots allow their bodies to shrink down when facing small holes. Therefore, this paper presents the design of a bio-inspired quadruped robot with scalable torso. A foldable mechanism with high deformability is firstly designed by integrating several spatial multi-bar linkages. The scalable torso and the quadruped robot are further designed based on the foldable mechanism. The proposed torso enables the quadruped robot to better deal with the obstacles including gaps, gullies, and stairs. Simulation experiments demonstrate that the quadruped robot with scalable torso has better performance of high-speed locomotion compared with rigid torso, such as increased stride length and lower cost of transport." @default.
- W3202495234 created "2021-10-11" @default.
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- W3202495234 date "2021-08-23" @default.
- W3202495234 modified "2023-09-23" @default.
- W3202495234 title "Design of a Bio-inspired Quadruped Robot with Scalable Torso" @default.
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- W3202495234 doi "https://doi.org/10.1109/case49439.2021.9551627" @default.
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