Open AccessDesign of biped robot inspired by cats for fast running
Author(s) -
Park Jongwon,
Kim Young Kook,
Yoon Byungho,
Kim KyungSoo,
Kim Soohyun
Publication year - 2014
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
ISSN - 1350-911X
DOI - 10.1049/el.2014.0990
Subject(s) - mechanism (biology) , kinematics , linkage (software) , control theory (sociology) , biped robot , robot , simulation , mechanism design , computer science , control engineering , engineering , artificial intelligence , mathematics , control (management) , physics , biochemistry , chemistry , mathematical economics , classical mechanics , quantum mechanics , gene
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.