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\begin{document}

\title{A Bio-Inspired Adjustable Posture Quadruped Robot with Laterally Undulating Spine for Terradynamically Challenging Environments}



\author[1]{Saurav Kumar Dutta}%
\author[1]{Yasemin Ozkan Aydin}%
\affil[1]{Department of Electrical Engineering, University of Notre Dame, Notre Dame}%


\vspace{-1em}



  
  \date{June 08, 2024}


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\begin{abstract}
Adaptation of morphology in response to varying environments is a
crucial feature seen in biological organisms. While some robots emulate
adaptability through the use of adaptive body parts, practical
implementation of morphological transformations in robotics remains
limited. This limitation arises due to the complexity of such
transformations, demanding the fusion of advanced materials, control
systems, and design approaches. In our paper, we introduce a bioinspired
quadruped robot equipped with a laterally undulating spine, designed to
adapt its posture specifically for navigating complex terradynamic
environments. Leveraging a symmetrical parallelogram mechanism, this
robot can alter both height and width, enabling traversal across varied
surfaces, collision avoidance, passage through narrow channels, and
obstacle negotiation. Additionally, our robot's innovative design
strategically positions its center of gravity within its support
triangle throughout the gait cycle using lateral undulation, eliminating
the need for posture-stabilizing sensors or learning algorithms.%
\end{abstract}%



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