Two Types of Biologically-Inspired Mesoscale Quadruped Robots

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.