Stability analysis on quadrupedal gaits according to body's flexibility using musculoskeletal robot

摘要

In this study, a feasibility study on the stability of gait patterns with changeable body stiffness is reported. The periodic motions of the legs are generated as a rhyhmic motion. The stability of locomotion strongly depends on the mechanical properties of the body mechanism, especially the joint stiffness. In this report, the muscle tone of the robot motion at the trunk is changeable by using the changeable elasticity of the pneumatic actuators. The stability of quadruped locomotion in crawl, trot and pace patterns with changeable body stiffness was evaluated with numerical simulations and hardware experiments.