Biomimetic design for bipedal/quadrupedal motion in a robotic primate

Biomimetic design is a methodology that takes inspiration from natural systems and it is a format that is becoming increasingly effective in the design of future generations of robots that will closely interact with humans. This paper describes the biomimetically inspired design, construction and testing of a robot based on the anatomy of a Gorilla. The paper will show that through the use of novel materials including new pneumatic muscle actuators, composites and highly complaint structures it is possible to produce a robot based on primates that has a capacity for quadrupedal locomotion, jump/fall shock absorption, bipedal standing/squatting and planarized bipedal walking.