Development of horse-type quadruped robot

Author

Makita, S. ; Murakami, N. ; Sakaguchi, M. ; Furusho, J.

Author_Institution

Dept. of Comput.-Controlled Mech. Syst., Osaka Univ., Japan

Volume

6

fYear

1999

fDate

1999

Firstpage

930

Abstract

The purpose of the study is to realize horse-like walking by a quadruped robot. First, to understand the gait of a horse we analyzed the gait of a trotting horse in a sagittal plane. We also studied the structure and function of equine muscles, tendons and skeleton. As a result, we proposed the model of horse-type quadruped robot. Its characteristics are: 1. At the fetlock joint, equine tendons work as springs. We introduced this role of tendons into the proposed model. 2. Each leg of this model has the same number of joints as that of each of the equine legs except digit or pes. Next, we made a simulator of this model and carried out simulation experiments to show the effect of the spring. Then the quadruped robot was designed

Keywords

biomechanics; legged locomotion; muscle; equine muscles; fetlock; horse-like walking; horse-type quadruped robot; sagittal plane; skeleton; tendons; trotting horse; Horses; Leg; Legged locomotion; Mechanical systems; Metals industry; Motion control; Muscles; Service robots; Springs; Tendons;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on

Conference_Location

Tokyo

ISSN

1062-922X

Print_ISBN

0-7803-5731-0

Type

conf

DOI

10.1109/ICSMC.1999.816677

Filename

816677