A bio-inspired quadruped robot exploiting flexible shoulder for stable and efficient walking

Akira Fukuhara, Megu Gunji, Yoichi Masuda, Kenjiro Tadakuma, Akio Ishiguro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

While most modern-day quadruped robots crouch their limbs during the stance phase to stabilize the trunk, mammals exploit the inverted-pendulum motions of their limbs and realize both efficient and stable walking. Although the flexibility of the shoulder region of mammals is expected to contribute to reconciling the discrepancy between the forelimbs and hindlimbs for natural walking, the complex body structure makes it difficult to understand the functionality of animal morphology. In this study, we developed a simple robot model that mimics the flexibility of shoulder region in the sagittal plane, and we conducted a two-dimensional simulation. The results suggest that the flexibility of the shoulder contributes to absorbing the different motions between the forelimbs and hindlimbs.

Original languageEnglish
Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7832-7839
Number of pages8
ISBN (Electronic)9781728162126
DOIs
Publication statusPublished - 2020 Oct 24
Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States
Duration: 2020 Oct 242021 Jan 24

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
CountryUnited States
CityLas Vegas
Period20/10/2421/1/24

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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