Dynamic Running Control of Quadrupedal Robot Using Artificial Muscle Mechanism

Zuguang Zhang; Hiroshi Kimura; Yasuhiro Fukuoka

doi:10.11499/sicep.2002.0.618.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.618.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Dynamic Running Control of Quadrupedal Robot Using Artificial Muscle Mechanism

Zuguang Zhang, Hiroshi Kimura, Yasuhiro Fukuoka

Author information

Keywords: Quadrupedal Robot, Tendon Driven Mechanism, Pneumatic Actuator

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 618

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Abstract

In this paper, in order to clarify the role of dynamics based control, we conducted a research on dynamics of the mechanical system for a quadrupedal robot in jumping locomotion. A control strategy of the mechanical system for Patrush, our quadrupedal robot with compliant legs, was introduced and successfully applied in our research. In addition, we developed a tendon driven mechanism with a flexible pneumatic actuator, by means of which the quadrupedal robot is able to execute dynamic running gait. MPEG footage of these experiments can be seen at: http://www.kimura.is.uec.ac.jp.

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