Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study
Our goal is to design a neuromorphic locomotion controller for a prospective bioinspired quadruped robot driven by artificial muscle actuators. In this paper, we focus on achieving a running gait called a pace, in which the ipsilateral pairs of legs move in phase, while the two pairs together move o...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI
2022
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/34638/1/Pace%20running%20of%20a%20quadruped%20robot%20driven%20by%20pneumatic%20muscle%20actuators.pdf |
| _version_ | 1796995188842823680 |
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| author | Fukuoka, Yasuhiro Komatsu, Ryunosuke Machii, Kenta Yokota, Masaaki Tobe, Masaki Ahmad Najmuddin, Ibrahim Fukui, Takahiro Habu, Yasushi |
| author_facet | Fukuoka, Yasuhiro Komatsu, Ryunosuke Machii, Kenta Yokota, Masaaki Tobe, Masaki Ahmad Najmuddin, Ibrahim Fukui, Takahiro Habu, Yasushi |
| author_sort | Fukuoka, Yasuhiro |
| collection | UMP |
| description | Our goal is to design a neuromorphic locomotion controller for a prospective bioinspired quadruped robot driven by artificial muscle actuators. In this paper, we focus on achieving a running gait called a pace, in which the ipsilateral pairs of legs move in phase, while the two pairs together move out of phase, by a quadruped robot with realistic legs driven by pneumatic muscle actuators. The robot is controlled by weakly coupled two-level central pattern generators to generate a pace gait with leg loading feedback. Each leg is moved through four sequential phases like an animal, i.e., touch-down, stance, lift-off, and swing phases. We find that leg loading feedback to the central pattern generator can contribute to stabilizing pace running with an appropriate cycle autonomously determined by synchronizing each leg’s oscillation with the roll body oscillation without a human specifying the cycle. The experimental results conclude that our proposed neuromorphic controller is beneficial for achieving pace running by a muscle-driven quadruped robot. |
| first_indexed | 2024-03-06T12:58:38Z |
| format | Article |
| id | UMPir34638 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T12:58:38Z |
| publishDate | 2022 |
| publisher | MDPI |
| record_format | dspace |
| spelling | UMPir346382022-09-23T07:12:51Z http://umpir.ump.edu.my/id/eprint/34638/ Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study Fukuoka, Yasuhiro Komatsu, Ryunosuke Machii, Kenta Yokota, Masaaki Tobe, Masaki Ahmad Najmuddin, Ibrahim Fukui, Takahiro Habu, Yasushi TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery TS Manufactures Our goal is to design a neuromorphic locomotion controller for a prospective bioinspired quadruped robot driven by artificial muscle actuators. In this paper, we focus on achieving a running gait called a pace, in which the ipsilateral pairs of legs move in phase, while the two pairs together move out of phase, by a quadruped robot with realistic legs driven by pneumatic muscle actuators. The robot is controlled by weakly coupled two-level central pattern generators to generate a pace gait with leg loading feedback. Each leg is moved through four sequential phases like an animal, i.e., touch-down, stance, lift-off, and swing phases. We find that leg loading feedback to the central pattern generator can contribute to stabilizing pace running with an appropriate cycle autonomously determined by synchronizing each leg’s oscillation with the roll body oscillation without a human specifying the cycle. The experimental results conclude that our proposed neuromorphic controller is beneficial for achieving pace running by a muscle-driven quadruped robot. MDPI 2022-05-01 Article PeerReviewed pdf en cc_by_4 http://umpir.ump.edu.my/id/eprint/34638/1/Pace%20running%20of%20a%20quadruped%20robot%20driven%20by%20pneumatic%20muscle%20actuators.pdf Fukuoka, Yasuhiro and Komatsu, Ryunosuke and Machii, Kenta and Yokota, Masaaki and Tobe, Masaki and Ahmad Najmuddin, Ibrahim and Fukui, Takahiro and Habu, Yasushi (2022) Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study. Applied Sciences (Switzerland), 12 (9). pp. 1-17. ISSN 2076-3417. (Published) https://doi.org/10.3390/app12094146 https://doi.org/10.3390/app12094146 |
| spellingShingle | TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery TS Manufactures Fukuoka, Yasuhiro Komatsu, Ryunosuke Machii, Kenta Yokota, Masaaki Tobe, Masaki Ahmad Najmuddin, Ibrahim Fukui, Takahiro Habu, Yasushi Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study |
| title | Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study |
| title_full | Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study |
| title_fullStr | Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study |
| title_full_unstemmed | Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study |
| title_short | Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study |
| title_sort | pace running of a quadruped robot driven by pneumatic muscle actuators an experimental study |
| topic | TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery TS Manufactures |
| url | http://umpir.ump.edu.my/id/eprint/34638/1/Pace%20running%20of%20a%20quadruped%20robot%20driven%20by%20pneumatic%20muscle%20actuators.pdf |
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