Title :
Design of biped robot inspired by cats for fast running
Author :
Jongwon Park ; Young Kook Kim ; Byungho Yoon ; Kyung-Soo Kim ; Soohyun Kim
Author_Institution :
Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol. (KAIST), Daejeon, South Korea
Abstract :
A novel design of a biped robot inspired by domestic cats for fast running is introduced. The skeletomuscular system of a cat is analysed and applied to determine the link parameters and the linkage structure of the proposed mechanism. The linkage design of the leg mechanism is explained and a kinematic analysis based on vector loop equations is performed. The effectiveness of the proposed mechanism is verified experimentally. The biped robot runs at an average speed of 2 m/s at a step frequency of 4 Hz. This leg mechanism can facilitate the development of fast running robot systems.
Keywords :
couplings; design engineering; legged locomotion; robot kinematics; average speed; biped robot design; cat skeletomuscular system analysis; fast-running robot system development; kinematic analysis; leg mechanism; link parameters; linkage design; linkage structure; step frequency; vector loop equations;
Journal_Title :
Electronics Letters
DOI :
10.1049/el.2014.0990
