Multi-Modal Transition of a Canine-like Quadruped to a Bipedal State

Euredjian, Andrew

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Multi-Modal Transition of a Canine-like Quadruped to a Bipedal State

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Legged robots have become the premier class of robot for use in unstructured environments due to their adaptability and versatility. Of the different subclasses of legged robots, bipedal and quadrupedal robots have been the focus of research for navigating such environments. The details of a task within an unstructured environment typically determine which type of robot to use between a biped and a quadruped, however, if one robot could transition between a quadrupedal and a bipedal form, it would benefit from the strengths of both types of robots. This paper investigates this issue by modifying a quadruped robot and adding an actuated flat foot to enable bipedal capabilities, and developing a trajectory for transitioning between quadrupedal and bipedal forms.

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