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- W4386826445 abstract "Abstract Quadrupedal animals show remarkable capabilities in traversing diverse terrains and display a range of behaviors and gait patterns. Achieving similar performance is a key goal for robotics researchers. We propose a bio-inspired approach to the design of quadrupeds that seeks to exploit the body and the passive properties of the robot. Using this novel approach we develop textit{PAWS}, a Passive Automata With Synergies. By leveraging the principles of motor synergies, the design incorporates variable stiffness, biological anatomical insights, and self-organization to simplify control while maximizing its capabilities. The resulting synergy-based quadruped requires only four actuators and exhibits emergent, animal-like dynamical responses, including robustness to environmental perturbations and a wide range of behaviors. The finding contributes to the development of machine intelligence, and provides robots with more efficient and natural-looking robotic locomotion by combining synergistic actuation, compliant body properties, and embodied compensatory strategies." @default.
- W4386826445 created "2023-09-19" @default.
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- W4386826445 date "2023-09-18" @default.
- W4386826445 modified "2023-09-26" @default.
- W4386826445 title "PAWS: A Synergy-Based Robotic Quadruped Leveraging Passivity for Robustness and Behavioural Diversity" @default.
- W4386826445 doi "https://doi.org/10.21203/rs.3.rs-3195331/v1" @default.
- W4386826445 hasPublicationYear "2023" @default.
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