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Stable reflex-based walking of forelimbs of a bio-inspired quadruped robot-modeled cheetah
In contrast to the high movement adaptability of
quadruped animals in many environmental conditions, it is
hard for conventional quadruped robots to operate in complex
environment conditions. We investigate the adaptability of
animals’ musculo-skeletal systems, by building a bio-inspired
quadruped robot named ”Pneupard” which duplicates a feline
musculo-skeletal system. In this study, we built Pneupard’s
forelimb which has 14 active muscles, 4 passive muscles and 8
degrees of freedom (DOF). We propose sole reflex-based control
and verify its effectiveness by conducting walking experiments,
in which the robot performed stable walking with a two-dimensional
restriction.This work was partially supported by a Grant-in-Aid for Scientific
Research(23220004) from the Japanese Ministry of Education, Culture,
Sports, Science and Technology.This is the accepted manuscript. The final version is available at http://dx.doi.org/10.1109/ROBIO.2013.673973
Energetics and Passive Dynamics of Quadruped Robot Planar Running Gaits
Quadruped robots find application in military for load carrying over uneven terrain, humanitarian
de-mining, and search and rescue missions. The energy required for quadruped robot locomotion
needs to be supplied from on-board energy source which can be either electrical batteries or fuels
such as gasolene/diesel. The range and duration of missions very much depend on the amount
of energy carried, which is highly limited. Hence, energy efficiency is of paramount importance in
building quadruped robots. Study of energy efficiency in quadruped robots not only helps in efficient
design of quadruped robots, but also helps understand the biomechanics of quadrupedal animals.
This thesis focuses on the energy efficiency of planar running gaits and presents: (a) derivation of
cost of transport expressions for trot and bounding gaits, (b) advantages of articulated torso over
rigid torso for quadruped robot, (c) symmetry based control laws for passive dynamic bounding and
design for inherent stability, and (d) effect of asymmetry in zero-energy bounding gaits