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Development of a minimalistic pneumatic quadruped robot for fast locomotion


Type

Conference Object

Change log

Authors

Narioka, K 
Rosendo, A 
Sproewitz, A 
Hosoda, K 

Abstract

In this paper, we describe the development of the quadruped robot ”Ken” with the minimalistic and lightweight body design for achieving fast locomotion. We use McKibben pneumatic artificial muscles as actuators, providing high frequency and wide stride motion of limbs, also avoiding problems with overheating. We conducted a preliminary experiment, finding out that the robot can swing its limb over 7.5 Hz without amplitude reduction, nor heat problems. Moreover, the robot realized a several steps of bouncing gait by using simple CPG-based open loop controller, indicating that the robot can generate enough torque to kick the ground and limb contraction to avoid stumbling.

Description

Keywords

46 Information and Computing Sciences, 40 Engineering, 4010 Engineering Practice and Education, Bioengineering

Journal Title

2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

Conference Name

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Journal ISSN

Volume Title

Publisher

IEEE
Sponsorship
This work was partially supported by KAKENHI 23220004, KAKENHI 24000012 and KAKENHI 23700233.