Analysis of vibrations transmitted to the quadruped robot body during trotting with different stiffness of feet

Abstract

Recently, researches on quadruped robots have been actively conducted. Quadruped robots for the purpose of complex geophysical exploration have higher mobility than wheeled robots on various grounds. However, quadruped robots generate rotational and translational vibrations with various frequencies on the body during walking and running. These vibrations reduce the accuracy of the sensor readings and degrade the sensor's functionality. Therefore, stability and durability of quadruped robot system are important for the quadruped walking. Since the shock due to contact with the ground during walking is inevitable, walking stability studies are under way to reduce rotational and translational vibrations. The purpose of this study focused on the feet of quadruped robot. Cheetaroid-Gray is used to change the stiffness of the feet, and the vibrations are measured with an inertial sensor attached to the body at 1 m/s. By comparing the measured vibration results, the degree of vibration reduction according to the change of stiffness is analyzed.