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
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.
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