Stability analysis on quadrupedal gaits according to body´s flexibility using musculoskeletal robot

Author

Tsujita, Katsuyoshi ; Miki, Kenji

Author_Institution

Dept. of Robot., Osaka Inst. of Technol., Osaka, Japan

fYear

2011

Firstpage

1609

Lastpage

1614

Abstract

In this study, a feasibility study on the stability of gait patterns with changeable body stiffness is reported. The periodic motions of the legs are generated as a rhyhmic motion. The stability of locomotion strongly depends on the mechanical properties of the body mechanism, especially the joint stiffness. In this report, the muscle tone of the robot motion at the trunk is changeable by using the changeable elasticity of the pneumatic actuators. The stability of quadruped locomotion in crawl, trot and pace patterns with changeable body stiffness was evaluated with numerical simulations and hardware experiments.

Keywords

elasticity; legged locomotion; pneumatic actuators; robot kinematics; stability; body flexibility; body mechanism mechanical properties; changeable body stiffness; crawl pattern; gait pattern stability analysis; hardware experiments; joint stiffness; leg periodic motion; locomotion stability; musculoskeletal robot; numerical simulations; pace patterns; pneumatic actuators changeable elasticity; quadrupedal gaits; rhyhmic motion; robot motion muscle tone; trot pattern; Actuators; Dynamics; Joints; Legged locomotion; Numerical stability; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on

Conference_Location

Karon Beach, Phuket

Print_ISBN

978-1-4577-2136-6

Type

conf

DOI

10.1109/ROBIO.2011.6181519

Filename

6181519