The development of a mechanical quadruped robot with animal-like muscle arrangement

Characteristics of bi-articular muscles were analyzed by examining a jumping mechanism inspired by the leg of an animal. Specifically, we proposed a leg mechanism called the pantograph model based on the bi-articular muscle arrangement that is only present in animals. We investigated the motion characteristics of the pantograph model and analyzed the change in motion when the ground reaction force is generated by extending the legs. The results show that this model transfers the torque generated by the actuator to the toe. In addition, this model automatically adjusts so that the ground reaction force turns toward the center of gravity. A robot equipped with this model in the legs can jump easily using this simple system.