📘
NeuroMINT Resources
  • Home
  • Basics and Policies
    • First things first
    • Guidelines for Keeping a Lab Notebook
    • Guidelines for Writing Academic Papers
    • Guidelines for Constructing and Presenting Conference Posters
    • The Peer-review and Publication Process
    • How to Read and Manage Your Academic Library
    • How to Deliver a Powerpoint Presentation
    • How to "Clean Up" a Matlab Figure with Adobe Illustrator
    • Academic Manuscript Odds and Ends Checklist
  • Literature
    • Insect and Crustacean Robot Lit Review
    • Biologically Inspired Robot Lit Review
      • Quadrupeds
      • Hexapods
    • Intel Loihi Robotics Lit Review
  • Technical Guides
    • Circuit Board Components
      • Instrumentation Amplifiers
      • Multiplexers (MUX)
      • Digital Potentiometers (Digipots)
    • I2C Communication with Arduino
    • Electronic (PCB) Design
      • How to debug your circuits
      • Beginners Guide: PCB Design
      • Using Fusion 360 for PCB Design
    • Parallella
      • GitHub
    • Anaconda Installation & Setup Guide (Windows 10)
      • Jupyter Notebook
    • OHAUS Ranger 3000 Scale
    • MarkForged II 3D Printer
      • Registering an Eiger.io Account
      • Scheduling Printer Use
      • Basic Printer Operation
      • Embedding Components within Parts
      • Using Carbon Fiber Reinforcement
      • Misc Tips & Tricks
    • Dynamixel Smart Servos
      • When should you use the nylon shim?
      • First Time Servo Setup (with the Dynamixel Wizard)
      • Programming Servo Motions with a Personal Computer
      • Reading Servo Motions with a Personal Computer
      • Programming Servo Motions with DynamixelSDK in Matlab on a Personal Computer
      • Programming Servo Motions with DynamixelSDK on OpenCM 9.04 Microcontroller
      • Using a Microcontroller as an Intermediary
      • Using a Microcontroller as an Intermediary - SyncWrite and BulkRead
      • Using AnimatLab to Control a Robot
    • Strain Gauges
      • Strain Gauge Amplification Circuit
    • Synthetic Nervous Systems and the Functional Subnetwork Approach
      • Encoding positions of the end-effector using the SNS-Toolbox
    • Robot Design
      • Mechanics
        • Characterizing Servo Properties
          • Moment of Inertia (J) and Damping (C)
          • Stiffness (K)
      • Parallel Spring Design and Characterization
      • Kinematics and Dynamics
      • Electronics
    • Raspberry Pi + Zumo + Pixy setup
      • Materials
      • Zumo Setup
      • Pixy2 Camera Setup with Raspberry Pi
    • Beginners Guide: Soldering
  • Logos and Templates
  • Student Progression Resources
    • Coursework
    • Plan of Study and AEC
    • Qualifying Exam
Powered by GitBook
On this page
  • Stickybot
  • HyQ, HyQ2Max
  • Mini-Cheetah

Was this helpful?

  1. Literature
  2. Biologically Inspired Robot Lit Review

Quadrupeds

List of interesting/relevant biologically inspired quadrupeds

Stickybot

HyQ, HyQ2Max

Institution: Istituto Italiano di Tecnologia (ITT) Animal Inspiration: N/A

Publications

Fast Facts

Actuators

Hydraulic actuators

DoF per Leg

3

Controller

Traditional PWM control

Sensing

Joint position, torque

  • Use four bar mechanisms to create desired motion with linear hydraulic actuators

  • Has passively compliant ankle joint

Mini-Cheetah

Institution: MIT Animal Inspiration: Big cat

Publication

Fast Facts

Actuators

Geared DC motors

DoF per Leg

3

Controller

Convex Model-Predictive Control (finite state machine)

Sensing

  • Can do 360 degree backflips

  • Shoulder joints can flip 180 degrees to easily right the robot if it falls on its back

PreviousBiologically Inspired Robot Lit ReviewNextHexapods

Last updated 3 years ago

Was this helpful?

C. Semini et al., "Design of the Hydraulically Actuated, Torque-Controlled Quadruped Robot HyQ2Max," in IEEE/ASME Transactions on Mechatronics, vol. 22, no. 2, pp. 635-646, April 2017
Claudio Semini. 2010. HyQ - Design and Development of a Hydraulically Actuated Quadruped Robot. PhD Thesis
B. Katz, J. D. Carlo and S. Kim, "Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control," 2019 International Conference on Robotics and Automation (ICRA), 2019, pp. 6295-6301