Development of Horse-type Quadruped Robot -Report 1, Development of Mechanism and Control System of Quadruped Robot PONY-

Shinobu Makita; Junji Furusho

doi:10.20965/jrm.2003.p0442

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JRM Vol.15 No.4 pp. 442-450

doi: 10.20965/jrm.2003.p0442

(2003)

Paper:

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Development of Horse-type Quadruped Robot -Report 1, Development of Mechanism and Control System of Quadruped Robot PONY-

Shinobu Makita, and Junji Furusho

Department of Computer-Controlled Mechanical Systems, Osaka University, 2-1 Yamadaoka, Suita-shi, Osaka, 565-0871 Japan

Received:

February 28, 2003

Accepted:

May 29, 2003

Published:

August 20, 2003

Keywords:

quadrupted robot, horse-type robot, trot, tendon, spring

Abstract

When mammals walk or run, they use energy stored in their tendons during limb movement. We focused on the trot of a horse, realized in a mobile quadruped robot. Changes in the angle of the equine fetlock during walking or running stretch tendons, storing energy. We propose realizing horse-like gaits in a mobile quadruped robot and designed and fabricated the mobile quadruped robot PONY.

Cite this article as:

S. Makita and J. Furusho, “Development of Horse-type Quadruped Robot -Report 1, Development of Mechanism and Control System of Quadruped Robot PONY-,” J. Robot. Mechatron., Vol.15 No.4, pp. 442-450, 2003.

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