抄録
Offer Organization: Japan Society for the Promotion of Science, System Name: Grants-in-Aid for Scientific Research, Category: Grant-in-Aid for Research Activity Start-up, Fund Type: -, Overall Grant Amount: - (direct: 2200000, indirect: 660000)
In this study, we proposed the bio-inspired elastic mechanisms for a quadruped robot that mimic passive elements of muscles and tendons of the forelimb, hindlimb, and trunk of a cat. We also developed a motion control method to utilize the effects of these elastic mechanisms in the agile motions, such as jumping and running, of the robot. Dynamics simulations and experiments on a prototype robot demonstrated high vertical jumping motion due to the effect of bio-inspired mechanisms. Then, we developed a small quadruped robot with bio-inspired mechanisms in the whole body by integrating these mechanisms.