Dynamic running control of quadrupedal robot using artificial muscle mechanism

摘要

In this paper, in order to clarify the role of dynamics based control, we conducted research on dynamics of the mechanical system for a quadrupedal robot in jumping locomotion. A control strategy of the mechanical system for Patrush, our quadrupedal robot with compliant legs, was introduced and successfully applied in our research. In addition, we developed a tendon driven mechanism with a flexible pneumatic actuator, by means of which the quadrupedal robot is able to execute a dynamic running gait. MPEG footage of these experiments can be seen at: http://www.kimura.is.uec.ac.jp.