Browse > Article
http://dx.doi.org/10.7746/jkros.2019.14.4.264

Leg Mechanism Design and Control of Bio-inspired Robot for High Speed Legged Locomotion  

Park, Jongwon (KAERI (Korea Atomic Energy Research Institute))
Publication Information
The Journal of Korea Robotics Society / v.14, no.4, 2019 , pp. 264-269 More about this Journal
Abstract
This paper presents mechanical design and control of a bio-inspired legged robot. To achieve a fast legged running mechanism, a novel linkage leg structure is designed based on hind legs of domestic cats. The skeletomuscular system and parallel leg movement of a cat are analyzed and applied to determine the link parameters. The hierarchical control architecture is designed according to the biological data to generate and modulate desired gaits. The effectiveness of the leg mechanism design and control is verified experimentally. The legged robot runs at a speed of 46 km/h, which is comparatively higher speed than other existing legged robots.
Keywords
Bio-inspired; Mechanism; Design; Control; Legged Robot;
Citations & Related Records
연도 인용수 순위
  • Reference
1 M. H. Raibert, Jr. H. B Brown, M. Chepponis, J. Koechling, J. K. Hodgins, D. Dustman, W. K. Brennan, D. S. Barrett, C. M. Thompson, J. D. Hebert, W. Lee, and L. Borvansky, "Dynamically Stable Legged Locomotion," Massachusetts Inst. of Tech Cambridge Artificial Intelligence Lab, USA, Rep. 1179, Sept., 1989.
2 M. Focchi, T. Boaventura, C. Semini, M. Frigerio, J. Buchli, and D. G. Caldwell, "Torque-control based compliant actuation of a quadruped robot," 2012 12th IEEE International Workshop on Advanced Motion Control (AMC), Sarajevo, Bosnia-Herzegovina, 2012.
3 A. Ananthanarayanan, M. Azadi, and S. Kim, "Towards a bio-inspired leg design for high-speed running," Bioinspiration & Biomimetics, vol. 7, no. 4, Aug., 2012.
4 Natural History, 1974, v. 83, The American Museum of Natural History, 1974.
5 L. M. Day and B. C. Jayne, "Interspecific scaling of the morphology and posture of the limbs during the locomotion of cats (Felidae)," Journal of Experimental Biology, vol. 210, no. 4, pp. 642-654, 2007.   DOI
6 R. M. Walter and D. R. Carrier, "Ground forces applied by galloping dogs," Journal of Experimental Biology, vol. 210, no. 2, pp. 208-216, 2007.   DOI
7 C. T. Farley, J. Glasheen, and T. A. McMahon, "Running springs: speed and animal size," Journal of experimental Biology, vol. 185, no. 1, pp. 71-86, Dec., 1993.   DOI
8 A. R. McNeill, Elastic Mechanisms in Animal Movement, Cambridge University Press, 1988.