System Design of a Cheetah Robot Toward Ultra-high Speed:

International Journal of Advanced Robotic Systems

MantianLi¹ 

关键词: Biomimetic;    Legged Robots;    Artificial Pneumatic Muscle;    Musculoskeletal Structure;   

DOI  :  10.5772/58563

学科分类：自动化工程

来源: InTech

【 摘 要 】

High-speed legged locomotion pushes the limits of the most challenging problems of design and development of the mechanism, also the control and the perception method. The cheetah is an existence proof of concept of what we imitate for high-speed running, and provides us lots of inspiration on design. In this paper, a new model of a cheetah-like robot is developed using anatomical analysis and design. Inspired by a biological neural mechanism, we propose a novel control method for controlling the muscles' flexion and extension, and simulations demonstrate good biological properties and leg's trajectory. Next, a cheetah robot prototype is designed and assembled with pneumatic muscles, a musculoskeletal structure, an antagonistic muscle arrangement and a J-type cushioning foot. Finally, experiments of the robot legs swing and kick ground tests demonstrate its natural manner and validate the design of the robot. In the future, we will test the bounding behaviour of a real legged system.

【 授权许可】

CC BY