ワニ類の歩行を生み出す筋腱系の力学的機能検証に向けた実寸大骨格プラットフォームの開発

抄録

The purpose of this study is to elucidate the interesting gait generation mechanism of crocodilians, which exhibit gaits seen in many quadrupedal animals. In our previous studies, we have focused on the passive interlocking mechanism in the crocodilian hindlimb musculoskeletal system. Through robotic validation, we have revealed that standing posture can be achieved through the coordination of the musculotendinous structures. However, because we had only reproduced the right hindlimb in past robotic models, we could not verify motions that lift the body using the hindlimbs during standing or the effects of the tail, which is thought to have a significant impact on locomotion. In this paper, in order to verify those aspects, we present the design and structure of our newly developed experimental platform comprised of a full-scale musculoskeletal robot including the tail and entire hindlimbs.