Stable reflex-based walking of forelimbs of a bio-inspired quadruped robot-modeled cheetah
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Authors
Nakatsu, S
Rosendo, A
Narioka, K
Hosoda, K
Abstract
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.
Description
Keywords
46 Information and Computing Sciences, 4602 Artificial Intelligence
Journal Title
2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Conference Name
2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Journal ISSN
Volume Title
Publisher
IEEE
Publisher DOI
Sponsorship
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.