Analysis of Using an Active Artificial Spine in a Quadruped Robot
In 2018 4th International Conference on Control, Automation and Robotics (ICCAR), (ICCAR-2018), 20.4.-23.4.2018, Auckland, IEEE Xplore online, Apr/2018.
With increasing mechanization of our daily lives,
the expectations and demands in robotic systems increase in
the general public and in scientists alike. Especially disaster
scenarios shows that the robotic systems not only have to face
a variety of different tasks during operation but also have
to deal with different demands regarding the robot’s mobility
characteristics. To be able to cope with future requirements, it
seems necessary to develop kinematically complex systems that
feature several operating modes. Often disregarded in robotics,
yet extensively used in nature, are the degrees of freedom
introduced by the spine.
This paper presents the latest work on the hominid robot
Charlie, whose morphology is oriented on chimpanzees and
which has the possibility due to its electromechanical structure
and the degrees of freedom to walk with different gaits in
different postures. Besides its degrees of freedom in its limbs,
the robot features an active artificial spine, equipped with
sensors in the structure to allow a dual use; both as a structural
part as well as a 6-DoF force/torque sensor. This paper analyses
the benefits of an active spine experimentally. The results show,
that the exploration of the range of motion is improved and
that less requirements on joint velocities are lowered.