@inproceedings{4e1c6b71b5444079b0cecd84867c004e,
title = "Effects of spinal joint on quadrupedal bounding",
abstract = "This paper studies the effects of a spinal joint on quadrupedal running with a bounding gait. Both models have the actuated hips and legs with masses and inertias. In this work, we used the numerical return map to find periodic locomotion of both models then, by comparing the performance of an articulated-body quadruped to a rigid-body one, we observed that the presence of spinal joint helps the robot increase the stride length and clearly affect the locomotion efficiency.",
keywords = "legged locomotion, periodic bounding, planar model, quadruped",
author = "Phan, \{Luong Tin\} and Lee, \{Yoon Haeng\} and Lee, \{Young Hun\} and Hyunyong Lee and Hansol Kang and Choi, \{Hyouk Ryeol\}",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 ; Conference date: 28-06-2017 Through 01-07-2017",
year = "2017",
month = jul,
day = "25",
doi = "10.1109/URAI.2017.7992798",
language = "English",
series = "2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "688--689",
booktitle = "2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017",
}