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Acevedo, Mario
Modeling and Control Balance Design for a New Bio-inspired Four-Legged Robot
2019
,
Ponce, Hiram
,
Acevedo, Mario
,
Morales, Elizabeth
,
Martinez-Villaseñor, Lourdes
,
Mayorga-Acosta, Carlos
,
Díaz Ramos, Gabriel
Bio-inspired robots have chosen to propose novel developments aiming to inhabit and interact complex and dynamic environments. Bio-inspired four-legged robots, typically inspired on animal locomotion, provide advantages on mobility, obstacle avoidance, energy efficiency and others. Balancing is a major challenge when legged robots require to move over uncertain and sharp terrains. It becomes of particular importance to solve other locomotion tasks such as walking, running or jumping. In this paper, we present a preliminary study on the modeling and control balance design of a bio-inspired four-legged robot for standing on its aligned legs in a straight line. The proposed robot is loosely inspired on the bio-mechanics of the chameleon. Thus, a mathematical modeling, simulation, intelligent control strategy, prototype implementation and preliminary results of control balance in our robot are presented and discussed. © Springer Nature Switzerland AG 2019.