Robot Description

Cheetah-Cub-S is a hybrid robot that combines the pantographic leg design of Cheetah-Cub with a flexible spine. It thus gains the ability to steer. The spine can bend laterally much like a spine of lizards and is actuated by a single motor located in the middle between fore and hind trunk segments. Cheetah-Cub-S can turn with a radius of 0.5m and a speed of 0.35m/s with a non-optimized gait, taken from Cheetah-Cub. Higher turning-speeds should be achievable with the optimization of the slipping behavior. The steering is not limited to one fixed radius at the time, that was confirmed by letting the robot run a slalom with different turning radii. Additional experiments classified the payload capacity of the robot. Another comparison study with Cheetah-Cub was done in which  without a spine and abduction/adduction was investigated. 



P. Eckert : Towards Agility: Definition, Benchmark and Design Considerations for Small, Quadrupedal Robots. Lausanne, EPFL, 2018. DOI : 10.5075/epfl-thesis-8592.
S. W. Heim; M. Ajallooeian; P. Eckert; M. Vespignani; A. Ijspeert : On Designing An Active Tail For Body-Pitch Control In Legged Robots Via Decoupling Of Control Objectives. 2016. 18th Climbing and Walking Robots Conference (CLAWAR), Hangzhou, PEOPLES R CHINA, SEP 06-09, 2015. p. 256-264.
S. Heim; M. Ajalloeian; P. Eckert; M. Vespignani; A. Ijspeert : On Designing an Active Tail for Legged Robots: Simplifying Control via Decoupling of Control Objectives; Industrial Robot: An International Journal. 2016. DOI : 10.1108/IR-10-2015-0190.
K. Weinmeister; P. Eckert; H. Witte; A. Ijspeert : Cheetah-cub-S: Steering of a Quadruped Robot using Trunk Motion. 2015. 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics, Purdue University, West Lafayette, Indiana, USA, October 18-20, 2015. DOI : 10.1109/SSRR.2015.7443021.
K. Weinmeister; P. Eckert; H. Witte; A. Ijspeert : Cheetah-cub-S: Steering of a Quadruped Robot using Trunk Motion ; AMAM 2015, Camebridge, Massachusetts, USA, June 21 - 25, 2015.
M. Ajallooeian; A. Sproewitz; A. Tuleu; A. Ijspeert : Data-driven extraction of drive functions for legged locomotion: A study on Cheetah-cub robot ; 6th International Conference on Adaptive Motion of Animals and Machines, 2013, Darmstadt, Germany, March 11-14, 2013.
A. Sproewitz; A. Tuleu; M. Vespignani; M. Ajallooeian; E. Badri et al. : Towards Dynamic Trot Gait Locomotion—Design, Control and Experiments with Cheetah-cub, a Compliant Quadruped Robot; International Journal of Robotics Research. 2013. DOI : 10.1177/0278364913489205.

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