Development of Quadruped Robot That Can Exploit Shoulder Hammock Structure

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

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

Abstract

Modern-day quadruped robots are designed to possess a symmetrical body and limbs, for good balance and modularity. On the other hand, animal morphology is sophisticated and has obtained heterogeneity along the cephalocaudal direction and high agility and locomotory capabilities. This study aims to understand the functionality of the cephalocaudal heterogeneous animal morphology and establish a design principle of hardware and control for the robot that can exploit this morphology for agile locomotion. In this study, we developed a quadruped robot focusing on different ways to achieve connectivity in the pectoral and pelvic girdles. The experiments show that a flexible shoulder joint allows the robot to redirect the motion of the body from down to up smoothly upon landing on the ground from an elevated place.

Original languageEnglish
Title of host publicationProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1139-1143
Number of pages5
ISBN (Electronic)9781728166674
DOIs
Publication statusPublished - 2020 Jan
Event2020 IEEE/SICE International Symposium on System Integration, SII 2020 - Honolulu, United States
Duration: 2020 Jan 122020 Jan 15

Publication series

NameProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020

Conference

Conference2020 IEEE/SICE International Symposium on System Integration, SII 2020
Country/TerritoryUnited States
CityHonolulu
Period20/1/1220/1/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Biomedical Engineering
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality
  • Control and Optimization
  • Instrumentation

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