2P1-F04 Motion Analysis of Lizard Type Quadruped Robots(Biorobotics (2))

Abstract

In this study, we focused on the walking gait of the lizard, and try to develop quadruped robots with simple mechanism and a few actuators. The lizard moves forward by bending the body trunk. In this paper, we consider the walking gait which is driven by the motion of the hip joint. The dynamical model of the robot is derived, and the walking gait is analyzed through numerical simulations. From the results of numerical simulation, the forward motion and turning motion can be realized.