Coordinated Locomotion Control for a Quadruped Robot with Bionic Parallel Torso

Coordinated Locomotion Control for a Quadruped Robot with Bionic Parallel Torso

This paper presents the design and control of a quadruped robot equipped with a six-degree-of-freedom (6-<i>DOF</i>) bionic active torso based on a parallel mechanism. Inspired by the compliant and flexible torsos of quadrupedal mammals, the proposed torso structure enhances locomotion p...

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Bibliographic Details
Main Authors: Yaguang Zhu, Ao Cao, Zhimin He, Mengnan Zhou, Ruyue Li
Format: Article
Language:English
Published: MDPI AG 2025-05-01
Series:Biomimetics
Subjects:
bionic torso
coordinated locomotion
model predictive control
variable mass center
Online Access:https://www.mdpi.com/2313-7673/10/5/335
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