SCOUT: a simple quadruped that walks, climbs, and runs

27 November 2002

proceedings article
Published by Institute of Electrical and Electronics Engineers (IEEE)

Vol. 2, 1707-1712
https://doi.org/10.1109/robot.1998.677408

Abstract

A simple mechanical design for quadrupedal locomotion,termed SCOUT, is proposed, featuringonly one degree of freedom per leg. This paperdemonstrates experimentally that our first prototypeSCOUT-1 is capable of walking, turning, and climbingover a step, despite its mechanical simplicity. Theunderlying principle is dynamic operation, based oncontrolled momentum transfer. Simulations show successfulwalking, stair climbing and running.Figure 1: SCOUT-11 IntroductionOver half of the...

Keywords

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