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

页码：730 / 731

页数：2

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