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Reconfigurable Microfluidic Channel with Pin-discretized Sidewalls
Published on: April 12, 2018
Note: Reconfigurable pelvis mechanism for efficient multi-locomotion: Biped and quadruped walking
1Department of Mechanical Engineering, KAIST, Daejeon 305-701, South Korea.
Abstract:
A reconfigurable pelvis mechanism that can change its length for multi-locomotion robot is introduced. From the characteristics of animals that walk in a bipedal or quadrupedal manner, we found that the length of the pelvis for each type of locomotion is related to the efficiency and stability of walking. We demonstrated the effectiveness of this mechanism in biped and quadruped walking through comparison of accumulated power of consumption. We also examined the changes of the supporting polygon according to the length of the pelvis during quadruped walking in terms of stability.
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