{"title":"Two Types of Biologically-Inspired Mesoscale Quadruped Robots","authors":"Thanhtam Ho, Sangyoon Lee","doi":"10.1109/RAMECH.2008.4681384","DOIUrl":null,"url":null,"abstract":"This paper introduces two kinds of mesoscale (12 cm), four-legged mobile robots whose locomotions are implemented by two pieces of piezocomposite actuators. The design of robot leg mechanism is inspired by the leg structure of biological creatures in a simplified fashion. The two prototype robots employ the walking and bounding locomotion gaits as a gait pattern. From numerous computer simulations and experiments, it is found that the bounding robot is superior to the walking one in the ability to carry a load at a fairly high velocity. However from the standpoint of agility of motions and ability of turning, the walking robot is found to have a clear advantage. In addition, the development of a small power supply circuit that is planned to be installed in the prototype is reported. Considering all the results, the two prototypes and the power supply indicate a strong progress toward an autonomous legged robot actuated by piezocomposite materials.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"26 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2008 IEEE Conference on Robotics, Automation and Mechatronics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RAMECH.2008.4681384","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
This paper introduces two kinds of mesoscale (12 cm), four-legged mobile robots whose locomotions are implemented by two pieces of piezocomposite actuators. The design of robot leg mechanism is inspired by the leg structure of biological creatures in a simplified fashion. The two prototype robots employ the walking and bounding locomotion gaits as a gait pattern. From numerous computer simulations and experiments, it is found that the bounding robot is superior to the walking one in the ability to carry a load at a fairly high velocity. However from the standpoint of agility of motions and ability of turning, the walking robot is found to have a clear advantage. In addition, the development of a small power supply circuit that is planned to be installed in the prototype is reported. Considering all the results, the two prototypes and the power supply indicate a strong progress toward an autonomous legged robot actuated by piezocomposite materials.