Development of limb structure for quadruped robot that can generate stride motions and mimic flexible shoulder region

Abstract

This study aims to understand design principles underlying adaptive behaviors of cursorial mammals (e.g., cheetahs) that exploit their flexible connection in the shoulder region. To evaluate the effects of the flexible shoulder on various locomotor tasks, e.g., walking, running, jumping, and landing, we design a new limb mechanism for a new robotic platform. The proposed limb mechanism transmits two actuators’ driving forces on the trunk unit through a multi-layer universal joint shaft. The flexible connection allows the foot to generate stride motion and the scapula to move translationally in the sagittal plane.