Serval, the last in a line of robot iterations, ismeant to serve as a quadruped for agilemovement. We use the previously researchedmechanisms, control structures and gained knowledge in the electronics development to build a combined and hopefully higher performing robot. Serval consists of an active 3-DOF spine (combining advantages from Lynx and Cheetah-Cub-S), leg units with adduction/abduction mechanism and a scaled ASLP-version of Cheetah-Cub-AL. All motors (DynamixelMX64R and MX28R) are combined with in-series elastics to protect the somewhat sensitive gear-boxes from harmin different load scenarios. The robot is equipped only with a minimal sensor set, consisting of a low-cost, medium-grade IMU. Collaborations started close to the end of this thesis will provide contact and GRF sensing with capacitive sensors as well as a sensitive skin for physical guidance. Control is realized through inverse kinematics for the legs, (for now) offsets in the spine and an underlying CPG-network for pattern generation. Reflexes, like in Oncilla, were not yet implemented, but are ongoing and future work.


P. Eckert; A. E. Schmerbauch; T. Horvat; K. Söhnel; M. S. Fischer et al. : Towards Rich Motion Skills with the Lightweight Quadruped Robot Serval - A Design, Control and Experimental Study. 2018-07-28. From Animals to Animats 15. DOI : 10.1007/978-3-319-97628-0_4.
P. Eckert : Towards Agility: Definition, Benchmark and Design Considerations for Small, Quadrupedal Robots. Lausanne, EPFL, 2018. DOI : 10.5075/epfl-thesis-8592.

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