Energy-Efficient Quadruped Robot Whose Self-Weight Is Supported by Mechanical Constraints

―Prototype of The Quadruped Robot with the Constraint Mechanism―

Abstract

Various quadruped robots have been developed in recent years. However, in order for quadruped robots to play an active role in our living space, it is necessary to improve their energy efficiency. Therefore, we consider a quadruped robot with a self-weight support mechanism to improve it. This mechanism constrains only the vertical displacement of the toe. In this paper, a simplified constraint mechanism is proposed for an actual quadruped robot and kinematics simulations are performed on the quadruped model.