The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2023
Session ID : 1P1-F26
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Exploring Mechanisms Underlying Cheetah-like Rotary Gallop by a Simple Robot
*Satoshi MAEDAYuya ASAOKAShoei HATTORIShura SUZUKIRyo KOBAYASHIAkio ISHIGURO
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Abstract

Cheetah is the fastest quadruped in the animal kingdom. To understand the mechanisms underlying the high-speed running ability, we focus on the two key characteristics of cheetah running: trunk bending and footfall pattern, known as rotary gallop. While trunk bending contributes to stride extension, the extent to which the footfall pattern contributes to high-speed running remains unclear. To address this issue, we hypothesized that the rotary gallop allows for effective utilization of trunk bending. A previous simulation study suggested that flexible trunk bending in response to the footfall pattern improves running speed. In this paper, we present a simple wheeled robot to verify our hypothesis in the real world.

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© 2023 The Japan Society of Mechanical Engineers
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