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- Title
Design of biped robot inspired by cats for fast running.
- Authors
Jongwon Park; Young Kook Kim; Byungho Yoon; Kyung-Soo Kim; Soohyun Kim
- Abstract
A novel design of a biped robot inspired by domestic cats for fast running is introduced. The skeletomuscular system of a cat is analysed and applied to determine the link parameters and the linkage structure of the proposed mechanism. The linkage design of the leg mechanism is explained and a kinematic analysis based on vector loop equations is performed. The effectiveness of the proposed mechanism is verified experimentally. The biped robot runs at an average speed of 2 m/s at a step frequency of 4 Hz. This leg mechanism can facilitate the development of fast running robot systems.
- Subjects
ROBOTS; BIPEDALISM; RUNNING; KINEMATICS; POSITION vectors
- Publication
Electronics Letters (Wiley-Blackwell), 2014, Vol 50, Issue 10, p730
- ISSN
0013-5194
- Publication type
Article
- DOI
10.1049/el.2014.0990