Development of Pneumatic Quadrupedal Robot Performing Multiple Gaits by Simple Motor Commands

摘要

A new approach of controlling quadrupedal robots would be posed by the recent breakthroughs in machine learning. Considering that these techniques typically require many trials to figure out adequate control inputs, the design specialized for this purpose will benefit. In this study, we are trying to develop a new quadrupedal robot driven by pneumatic cylinders centrally mounted on the body for archiving the simplicity of the mechanical design and the ability of performing multiple gaits. In this paper, we demonstrate the design of the developed pneumatic quadrupedal robot and indicate the robot can perform multiple gaits.