Abstract
High-speed legged locomotion pushes the limits of the most challenging problems of design and development of the mechanism, also the control and the perception method. The cheetah is an existence proof of concept of what we imitate for high-speed running, and provides us lots of inspiration on design. In this paper, a new model of a cheetah-like robot is developed using anatomical analysis and design. Inspired by a biological neural mechanism, we propose a novel control method for controlling the muscles' flexion and extension, and simulations demonstrate good biological properties and leg's trajectory. Next, a cheetah robot prototype is designed and assembled with pneumatic muscles, a musculoskeletal structure, an antagonistic muscle arrangement and a J-type cushioning foot. Finally, experiments of the robot legs swing and kick ground tests demonstrate its natural manner and validate the design of the robot. In the future, we will test the bounding behaviour of a real legged system.
Highlights
High-speed running is an important topic in current legged robot research, as it places extreme demands on our understanding of mechanical design, control and perception
Raibert’s monopod hopper was the first fast-running robot with prismatic joints [1]. He developed a four-legged system which runs like a spring-loaded inverted pendulum (SLIP) [2] with trotting, pacing and bounding gaits [3], while the SLIP model is recognized as the best template for animal running
As the nervous system is concerned with locomotion, we focused on the neural mechanism controlling the muscles and the activation relationship among the muscle groups
Summary
High-speed running is an important topic in current legged robot research, as it places extreme demands on our understanding of mechanical design, control and perception. Previous work has shown that a robot’s overall performance can be improved when abstracted biological principles and devices are incorporated into the control method and mechanical design. Raibert’s monopod hopper was the first fast-running robot with prismatic joints [1]. He developed a four-legged system which runs like a spring-loaded inverted pendulum (SLIP) [2] with trotting, pacing and bounding gaits [3], while the SLIP model is recognized as the best template for animal running. Stanford and Ohio State have done a lot of work
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