四脚ロボットの柔軟な肩部ハンモック構造が走行運動に及ぼす影響

抄録

Cursorial quadrupeds have sophisticated morphology with heterogeneity along with the lead to tail direction, realizing agile locomotor capabilities. This study aims to understand the functionality underlying the asymmetrical animal morphology to establish a new design principle beyond modern-day quadruped robots with homogeneous body structures. To this end, this study investigates the effects of flexible connectivity in the shoulder region (i.e., shoulder hammock structure) on quadrupedal running by using a simple mass-spring-damper robot system in the sagittal plane. The results suggest that flexible shoulder may reduce ground reaction force differences between the trailing and leading forelimbs in asymmetrical running gait (e.g., galloping gait).