Design of a cat-inspired robotic leg for fast running

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This paper introduces a novel design for a robotic leg to achieve a fast running mechanism that is inspired by domestic cats. The skeletomuscular system and parallel leg movement of a cat are analyzed and applied to determine the link parameters and the linkage structure of the proposed mechanism. The linkage design of the leg mechanism is explained, and a kinematic analysis based on vector loop equations is performed. The effectiveness of the proposed mechanism is verified experimentally. A single leg clamped to a vertically moving slider exhibits a step frequency of 4.45Hz while supporting a 0.5kg body weight. The biped robot runs at an average speed of 0.75m/s at a step frequency of 2.8Hz for a trot gait on flat ground. This leg mechanism can facilitate the development of fast running robot systems.
Publisher
TAYLOR & FRANCIS LTD
Issue Date
2014-12
Language
English
Article Type
Article
Keywords

QUADRUPED ROBOT; DYNAMIC WALKING; LOCOMOTION; SPEED

Citation

ADVANCED ROBOTICS, v.28, no.23, pp.1587 - 1598

ISSN
0169-1864
DOI
10.1080/01691864.2014.968617
URI
http://hdl.handle.net/10203/194768
Appears in Collection
ME-Journal Papers(저널논문)
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