Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Biologically Inspired Approach for the Development of Quadruped Walking Robot

사족보행 로봇의 개발을 위한 생체모방적 접근

  • 강태훈 (성균관대학교 기계공학부) ;
  • 송현섭 (성균관대학교 기계공학부) ;
  • 최혁렬 (성균관대학교 기계공학부)
  • Published : 2006.04.01
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Abstract

In this paper, we present a comprehensive study for the development of quadruped walking robot. To understand the walking posture of a tetrapod animal, we begin with a careful observation on the skeletal system of tertapod animals. From taking a side view of their skeletal system, it is noted that their fore limbs and hind limbs perform characteristic roles during walking. Moreover, the widths of footprints and energy efficiency in walking have a close relationship through taking a front view of their walking posture. According to these observations, we present a control method where the kinematical solutions are not necessary because we develop a new rhythmic gait pattern for the quadruped walking robot. Though the proposed control method and rhythmic pattern are simple, they can provide the suitable motion planning for the robot since the resultant movement is based on the animal's movements. The validity of the proposed idea is demonstrated through dynamic simulations.

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