Dynamic Running Control of Quadrupedal Robot Using Artificial Muscle Mechanism

抄録

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.