SCOUT: A Simple Quadruped that Walks, Climbs and Runs

A simple mechanical design for quadrupedal locomotion, termed SCOUT, is proposed, featuring only one degree of freedom per leg. This paper demonstrates experimentally that our rst prototype SCOUT-1 is capable of walking, turning, and climbing over a step, despite its mechanical simplicity. The underlying principle is dynamic operation, based on controlled momentum transfer. Simulations show successful walking, stair climbing and running. Figure 1: SCOUT-1

• Type: Conference
• Year: 1998
• Where: ICRA
• Authors: Martin Buehler, R. Battaglia, A. Cocosco, Geoff Hawker, J. Sarkis, K. Yamazaki
• Keywords: Controlled Momentum Transfer, ICRA 1998, Robotics, Rst Prototype Scout-1, Simple Mechanical Design