Towards a Biologically Inspired Ape-Like Robot
Daniel Kuehn, Nina Sauthoff, Felix Grimminger, Malte Langosz, Frank Kirchner
In Mobile Robotics - Solutions and Challenges, (CLAWAR-09), 09.9.-11.9.2009, Istanbul, World Scientific Publishing Co. Pte. Ltd., pages 165-172, Aug/2009. ISBN: 978-981-4291-26-2.
Abstract
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In this paper we present a small and lightweight ape-like robot. Aim of this project is to build a robot that is capable to walk adequately on two and four legs, change from a four-legged posture to a two-legged posture, has the ability to manipulate small objects, and is able to climb. The ape species Pan troglodytes and Pan paniscus were chosen as an antetype for our robot. LittleApe is modelled with the same characteristics regarding limb proportions, spinal column, center of mass, walking pattern, and range of motion.
Keywords
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Quadruped Robot; climbing; 2-legged walking; 4-legged walking