Design of biped robot inspired by cats for fast running

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A novel design of a biped robot inspired by domestic cats for fast running is introduced. The skeletomuscular system of a cat is analysed 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. The biped robot runs at an average speed of 2 m/s at a step frequency of 4 Hz. This leg mechanism can facilitate the development of fast running robot systems.
Publisher
INST ENGINEERING TECHNOLOGY-IET
Issue Date
2014-05
Language
English
Article Type
Article
Citation

ELECTRONICS LETTERS, v.50, no.10, pp.730 - 731

ISSN
0013-5194
DOI
10.1049/el.2014.0990
URI
http://hdl.handle.net/10203/189658
Appears in Collection
ME-Journal Papers(저널논문)
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