Designing a Quadrupedal Robot Mimicking Cat Locomotion

摘要

This paper explored a way to design mechanical structure and motion pattern of a quadrupedal robot to realize pitching motion by mimicking a cat. Four joints configuration styles were obtained by simplifying quadrupedal mammal's body. Referring to the leg motion of a cat, joint motion trajectories were designed and a motion mapping relationship between knee and hip was formulated for the quadrupedal robot. Proved by the experiments with a physical robot, these designs are effective and the quadrupedal robot can walk quickly and smoothly just as a cat does. Otherwise, we find robotic mechanical structure in terms of joint-configuration style, layout of COG, etc. has influences on the performance of the robot. That results in slippage or not-clearance-from-the-ground of feet in motion.