Influence of trunk structure on posture transition from quadrupedalism to bipedalism

ROBOMECH Journal

Wataru Kase¹  Takashi Takuma¹ 

[1] Osaka Institute of Technology, Osaka, Japan

关键词: Posture transition;    Quadrupedalism;    Bipedalism;    Trunk mechanism;   

DOI  :  10.1186/s40648-017-0078-2

学科分类：人工智能

来源: Springer

【 摘 要 】

An effective strategy for walking over rough terrain, flat plane, and wreckage includes transitioning from quadrupedal to bipedal locomotion. In this study, we designed a trunk mechanism that provides successful posture transition from quadrupedalism tobipedalism. The proposed trunk mechanism imitates the human trunk with redundant joints and elastic muscles supporting the trunk. The simulation results show that the proposed mechanism provides a successful and more rapid transition compared to the conventional rigid body.

【 授权许可】

CC BY