Repository logo

Quadrupedal locomotion based on a muscular activation pattern with stretch-reflex


Conference Object

Change log


Rosendo, A 
Nakatsu, S 
Liu, X 
Shimizu, M 
Hosoda, K 


Cyclical locomotion, such as walking, hopping and running, is known to be generated at the spinal cord, guiding human and animal strides over different gaits. Over the last years, many researchers concentrated their study on the origin of such signals, replicating them by either controlling joint angles or torques. In this work, we use a quadruped pneumatic robot to reproduce stable walking on a treadmill through a muscular activation pattern. Unlike previous studies, neither angles or torques are taken into consideration. Similarly to biological morphology, with variating moment arms, muscles contract rhythmically and their inherent compliance adapts to the floor. Proportional feedback upon touching the floor (stretch-reflex) is also tested, and its effects are explained. In the future, this methodology can be used to produce adaptive gait and improve current robotic by exploring interaction between control and soft bodies.



42 Health Sciences, 4207 Sports Science and Exercise, Clinical Research, Bioengineering, Neurodegenerative, Neurosciences

Journal Title

2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

Conference Name

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Journal ISSN

Volume Title


This work was aided by KAKENHI Kiban(S) 23220004 and 25540117.