Show simple item record

dc.contributor.authorMacedo Rosendo Silva, Andreen
dc.contributor.authorNakatsu, Shogoen
dc.contributor.authorNarioka, Kenichien
dc.contributor.authorHosoda, Kohen
dc.date.accessioned2015-10-06T12:58:44Z
dc.date.available2015-10-06T12:58:44Z
dc.date.issued2014-01-13en
dc.identifier.citationAdvanced Robotics 2014, 28(6), 351-365. doi: 10.1080/01691864.2013.870495en
dc.identifier.issn0169-1864
dc.identifier.urihttps://www.repository.cam.ac.uk/handle/1810/251313
dc.description.abstractStudies on decerebrate walking cats have shown that phase transition is strongly related to muscular sensory signals at limbs. To further investigate the role of such signals terminating the stance phase, we developed a biomimetic feline platform. Adopting link lengths and moment arms from an Acinonyx jubatus, we built a pair of hindlimbs connected to a hindquarter and attached it to a sliding strut, simulating solid forelimbs. Artificial pneumatic muscles simulate biological muscles through a control method based on EMG signals from walking cats (Felis catus). Using the bio-inspired muscular unloading rule, where a decreasing ground reaction force triggers phase transition, stable walking on a treadmill was achieved. Finally, an alternating gait is possible using the unloading rule, withstanding disturbances and systematic muscular changes, not only contributing to our understanding on how cats may walk, but also helping develop better legged robots.
dc.description.sponsorshipThe authors acknouledge the Japanese Research Grant KAKENHI Kiban 23220004 and 25540117.
dc.languageEnglishen
dc.language.isoenen
dc.publisherTaylor & Francis
dc.subjectbiomimeticen
dc.subjectbio-inspireden
dc.subjectcat locomotionen
dc.subjectEMG signalsen
dc.subjectmusculoskeletalen
dc.subjectunloading ruleen
dc.titleProducing alternating gait on uncoupled feline hindlimbs: muscular unloading rule on a biomimetic roboten
dc.typeArticle
dc.description.versionThis is the author accepted manuscript. The final version is available from Taylor & Francis via http://dx.doi.org/10.1080/01691864.2013.870495en
prism.endingPage365
prism.publicationDate2014en
prism.publicationNameAdvanced Roboticsen
prism.startingPage351
prism.volume28en
rioxxterms.versionofrecord10.1080/01691864.2013.870495en
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden
rioxxterms.licenseref.startdate2014-01-13en
dc.contributor.orcidMacedo Rosendo Silva, Andre [0000-0003-4062-5390]
dc.identifier.eissn1568-5535
rioxxterms.typeJournal Article/Reviewen


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record