Pneupard: A biomimetic musculoskeletal approach for a feline-inspired quadruped robot
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Authors
Rosendo, A
Nakatsu, S
Narioka, K
Hosoda, K
Abstract
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.
Description
Keywords
3009 Veterinary Sciences, 30 Agricultural, Veterinary and Food Sciences, 31 Biological Sciences, Musculoskeletal
Journal Title
IEEE International Conference on Intelligent Robots and Systems
Conference Name
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)
Journal ISSN
2153-0858
2153-0866
2153-0866
Volume Title
Publisher
IEEE
Publisher DOI
Sponsorship
This work was partially supported by KAKENHI Kiban(S) 23220004.