{"title":"Dynamic running control of quadrupedal robot using artificial muscle mechanism","authors":"Z. Zhang, H. Kimura, Y. Fukuoka","doi":"10.1109/SICE.2002.1195544","DOIUrl":null,"url":null,"abstract":"In this paper, in order to clarify the role of dynamics based control, we conducted research on dynamics of the mechanical system for a quadrupedal robot in jumping locomotion. A control strategy of the mechanical system for Patrush, our quadrupedal robot with compliant legs, was introduced and successfully applied in our research. In addition, we developed a tendon driven mechanism with a flexible pneumatic actuator, by means of which the quadrupedal robot is able to execute a dynamic running gait. MPEG footage of these experiments can be seen at: http://www.kimura.is.uec.ac.jp.","PeriodicalId":301855,"journal":{"name":"Proceedings of the 41st SICE Annual Conference. SICE 2002.","volume":"32 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2002-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 41st SICE Annual Conference. SICE 2002.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SICE.2002.1195544","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
In this paper, in order to clarify the role of dynamics based control, we conducted research on dynamics of the mechanical system for a quadrupedal robot in jumping locomotion. A control strategy of the mechanical system for Patrush, our quadrupedal robot with compliant legs, was introduced and successfully applied in our research. In addition, we developed a tendon driven mechanism with a flexible pneumatic actuator, by means of which the quadrupedal robot is able to execute a dynamic running gait. MPEG footage of these experiments can be seen at: http://www.kimura.is.uec.ac.jp.