Pneupard: A Biomimetic Musculoskeletal Approach for a Feline-inspired Quadruped Robot
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013
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Macedo Rosendo Silva, A., Nakatsu, S., Narioka, K., & Hosoda, K. (2013). Pneupard: A Biomimetic Musculoskeletal Approach for a Feline-inspired Quadruped Robot. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013, 1452-1457. https://doi.org/10.1109/IROS.2013.6696540
Feline locomotion combines great acrobatic proficiency, unparalleled balance and higher accelerations than other animals. Capable of accelerating from 0 to 100 km h−1 in three seconds, the cheetah (Acinonyx jubatus) is still a mystery which intrigues scientists. Aiming for a better understanding of the source of such higher speeds, we develop a biomimetic platform, where musculoskeletal parameters (range of motion and moment arms) from the biological system can be evaluated with air muscles within a lightweight robotic structure. We performed experiments validating the muscular structure during a treadmill walk, successfully reproducing animal locomotion while adopting an EMG based control method.
This work was partially supported by KAKENHI Kiban(S) 23220004.
External DOI: https://doi.org/10.1109/IROS.2013.6696540
This record's URL: https://www.repository.cam.ac.uk/handle/1810/251354