JRM Vol.34 No.2 pp. 304-309
doi: 10.20965/jrm.2022.p0304


Flexible Shoulder in Quadruped Animals and Robots Guiding Science of Soft Robotics

Akira Fukuhara*1, Megu Gunji*2, Yoichi Masuda*3, Kenjiro Tadakuma*4, and Akio Ishiguro*1

*1Research Institute of Electrical Communication, Tohoku University
2-1-1 Katahira, Aoba-ku, Sendai, Miyagi 980-8577, Japan

*2Department of Life Sciences, Faculty of Life Sciences, Toyo University
1-1-1 Izumino, Itakura-machi, Ora-gun, Gunma 374-0193, Japan

*3Department of Mechanical Engineering, Osaka University
2-1 Yamadaoka, Suita, Osaka 565-0871, Japan

*4Graduate School of Information Sciences, Tohoku University
6-6-01 Aramaki Aza-Aoba, Aoba-ku, Sendai, Miyagi 980-8579, Japan

November 5, 2021
December 8, 2021
April 20, 2022
quadruped robot, muscle sling, anatomy, soft robotics

Cursorial quadrupeds have different connections to the trunk for forelimbs and hindlimbs: a flexible connection through the muscles to the forelimb, and a secure connection through the hip joint to the hindlimb. Although anatomical and biological studies have described the structure and behavior of cursorial quadrupeds by focusing on flexible shoulders, the functionality of the flexible shoulder remains unclear. In this study, we first survey the anatomical and biological studies. Second, we introduce our robotics studies, which focus on flexible connections for proximal limb joints. Further, we discuss future directions for extracting a design principle based on complex animal body structures, and we suggest the potential for interdisciplinary research between anatomy and soft robotics.

Developed quadrupedal robot mimicking the flexible shoulder in cursorial mammals

Developed quadrupedal robot mimicking the flexible shoulder in cursorial mammals

Cite this article as:
A. Fukuhara, M. Gunji, Y. Masuda, K. Tadakuma, and A. Ishiguro, “Flexible Shoulder in Quadruped Animals and Robots Guiding Science of Soft Robotics,” J. Robot. Mechatron., Vol.34 No.2, pp. 304-309, 2022.
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