Design of a Running Robot Based on Motion Analysis of Animals
Takayuki IKEDA, Yasushi IWATANI, Koichi SUSE, Tsutomu MITA
In order to create a running and jumping quadruped robot composed of all articular joints, we have developed a mono-leg robot which simulates the landing and lift-off motions of kangaroos. From the photograph data of the gait motion of kangaroo, time responses of four fundamental quantities are approximated by solutions of first or second order differential equations. Then we propose a control strategy of the robot which realizes these differential equations as controlled constraints. Experimental results show that a running mono-leg robot is produced which has a smooth jumping gaits.