Design of biped robot inspired by cats for fast running

@article{Park2014DesignOB,
  title={Design of biped robot inspired by cats for fast running},
  author={Jongwon Park and Young Kook Kim and Byungho Yoon and Kyung-Soo Kim and Soohyun Kim},
  journal={Electronics Letters},
  year={2014},
  volume={50},
  pages={730-731}
}
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… Expand

Figures from this paper

Raptor 2 : Design of fast biped robot for 3 D environments using active tail stabilization
TLDR
This research aims to design a high speed bipedal running robot on 3D environments based on active tail stabilization method, Raptor 2 robot, which can be an effective solution for maintaining legged robot balance. Expand
Variable-structured elastic mechanism for high-speed and backdrivable actuation(審査報告)
Recently, advancements of motion control technology have been developing human-support technologies, such as humanoid robots and wearable robotic devices. However, the performance of a robotic systemExpand
The Analysis of Mechanical Structure of a Robotic Leg in Running for Impact Mitigation
TLDR
Contact inertia (CI), closely related to the impact, is derived and utilized to analyze the mechanical structure in terms of impact mitigation, and a series of impact experiments with a fabricated leg verify that the mechanical structures affects mitigating the impact. Expand
A Comprehensive Study of Climbing and Walking Robots (CLWAR) Paradigms
There are quite a number of naturally dangerous, expensive and hostile practices that are inimical and hazardous to the general health of human beings. Typical examples of such practices includeExpand
Biomimetic Quadruped Robot with a Spinal Joint and Optimal Spinal Motion via Reinforcement Learning
  • Young Kook Kim, W. Seol, Jihyuk Park
  • Journal of Bionic Engineering
  • 2021

References

SHOWING 1-5 OF 5 REFERENCES
Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground Based on Biological Concepts
TLDR
It is shown that CPGs can be the center of sensorimotor coordination, and that the neural system model simply defining the relationships between CPGS, sensory input, reflexes and mechanical system works very well even in complicated tasks such as adaptive dynamic walking on unstructured natural ground. Expand
Modeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait: The Scout II Robot
TLDR
Comparisons of models and experiments involving Scout II, an untethered four-legged running robot with only one actuator per compliant leg, contribute to the increasing evidence that apparently complex dynamically dexterous tasks may be controlled via simple control laws. Expand
Towards a bio-inspired leg design for high-speed running.
TLDR
A new design paradigm for a robotic leg inspired by musculoskeletal structures is introduced, and the central hypothesis is that employing a tendon-bone co-location architecture not only provides compliance in the leg, but can also reduce bone stresses caused by bending on structures. Expand
Energy of the oscillating legs of a fast‐moving cheetah, pronghorn, jackrabbit, and elephant
Lifelike models of the oscillating legs treated as three‐segment systems show the course of kinetic and potential energy over the locomotor cycle for a cheetah, pronghorn, jackrabbit, and elephantExpand
Interspecific scaling of the morphology and posture of the limbs during the locomotion of cats (Felidae)
TLDR
Quantifying the scaling relationships between mass and limb dimensions and kinematics during walking of nine species within the felid (cat) clade found that larger species of felids did not have more upright limbs than smaller species. Expand