Design of biped robot inspired by cats for fast running

被引：3
|
作者：
Park, Jongwon [1 ]
Kim, Young Kook [2 ]
Yoon, Byungho [1 ]
Kim, Kyung-Soo [1 ]
Kim, Soohyun [1 ]
机构：
[1] Korea Adv Inst Sci & Technol, Dept Mech Engn, Taejon 305701, South Korea
[2] Korea Adv Inst Sci & Technol, Robot Program, Taejon 305701, South Korea
来源：
ELECTRONICS LETTERS | 2014年 / 50卷 / 10期
关键词：
D O I：
10.1049/el.2014.0990
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
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.
引用
收藏
页码：730 / 731
页数：2
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