Description
The complaint, quadrupedal robot Bobcat is a cheap and easy to produce experimental platformfor dynamic locomotion. With the actuation design based on the Cheetah-Cub, it was developed in BIOROB extending morphology research with an active and compliant spine. The leg design features a 2-segmented compliant leg with an additional springy toe. The width between fore- and hind-shoulders is different to enable overlapping feet (often seen in the fast motion of animals). The spine actuation is achieved with a single RC servomotor, positioned in between fore and hind trunk-segment. Itsmovement range is 35deg in the saggital layer. A fully connected CPG-network resembling the one implemented on Cheetah-cub is used to control the robot. An additional oscillator node expands it for the spine actuation. Electronic hardware and power-supply are the same as in Cheetah-Cub.
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Feel free to use pictures and movies without prior permission, provided they are credited as follows:Biorobotics Laboratory, EPFL. Please contact us by email at massimo.vespignani at epfl.ch or auke.ijspeert at epfl.ch if you would like additional information or higher resolution videos.