Development of a Cat Hindlimb Brainless Robot with Biarticular Muscles for Generating Leg Trajectories

Abstract

Quadrupeds have an ability to autonomously generate locomotion in response to their environment by using a large number of reflex feedbacks throughout their body. We have been proposing a design method to implement a mechanical reflex system in a robot to reproduce the animals’ abilities. In this study, a robot resembling feline hindlimbs with a complex musculoskeletal structure including biarticular muscles autonomously generated leg trajectories through interaction between the body, the environment, and a mechanical reflex system, without using any computational devices such as a microcomputer. Furthermore, when we compare the joint angles of the robot with those of the cat, the characteristics of the joint trajectories matched except for the knee joint.