High-speed running quadruped robot with a multi-joint spine adopting a 1DoF closed-loop linkage
Improving the mobility of robots is an important goal for many real-world applications and implementing an animal-like spine structure in a quadruped robot is a promising approach to achieving high-speed running. This paper proposes a feline-like multi-joint spine adopting a one-degree-of-freedom cl...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2023-03-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2023.1148816/full |
| _version_ | 1797859439636643840 |
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| author | Ojiro Matsumoto Hiroaki Tanaka Takumi Kawasetsu Koh Hosoda |
| author_facet | Ojiro Matsumoto Hiroaki Tanaka Takumi Kawasetsu Koh Hosoda |
| author_sort | Ojiro Matsumoto |
| collection | DOAJ |
| description | Improving the mobility of robots is an important goal for many real-world applications and implementing an animal-like spine structure in a quadruped robot is a promising approach to achieving high-speed running. This paper proposes a feline-like multi-joint spine adopting a one-degree-of-freedom closed-loop linkage for a quadruped robot to realize high-speed running. We theoretically prove that the proposed spine structure can realize 1.5 times the horizontal range of foot motion compared to a spine structure with a single joint. Experimental results demonstrate that a robot with the proposed spine structure achieves 1.4 times the horizontal range of motion and 1.9 times the speed of a robot with a single-joint spine structure. |
| first_indexed | 2024-04-09T21:29:29Z |
| format | Article |
| id | doaj.art-aebaf9f5340148df99d1f985ca9910ab |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-04-09T21:29:29Z |
| publishDate | 2023-03-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-aebaf9f5340148df99d1f985ca9910ab2023-03-27T10:49:37ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442023-03-011010.3389/frobt.2023.11488161148816High-speed running quadruped robot with a multi-joint spine adopting a 1DoF closed-loop linkageOjiro MatsumotoHiroaki TanakaTakumi KawasetsuKoh HosodaImproving the mobility of robots is an important goal for many real-world applications and implementing an animal-like spine structure in a quadruped robot is a promising approach to achieving high-speed running. This paper proposes a feline-like multi-joint spine adopting a one-degree-of-freedom closed-loop linkage for a quadruped robot to realize high-speed running. We theoretically prove that the proposed spine structure can realize 1.5 times the horizontal range of foot motion compared to a spine structure with a single joint. Experimental results demonstrate that a robot with the proposed spine structure achieves 1.4 times the horizontal range of motion and 1.9 times the speed of a robot with a single-joint spine structure.https://www.frontiersin.org/articles/10.3389/frobt.2023.1148816/fullspine structureclosed-loop linkagequadruped robothigh-speed runningbio-inspiredpelvic motion |
| spellingShingle | Ojiro Matsumoto Hiroaki Tanaka Takumi Kawasetsu Koh Hosoda High-speed running quadruped robot with a multi-joint spine adopting a 1DoF closed-loop linkage Frontiers in Robotics and AI spine structure closed-loop linkage quadruped robot high-speed running bio-inspired pelvic motion |
| title | High-speed running quadruped robot with a multi-joint spine adopting a 1DoF closed-loop linkage |
| title_full | High-speed running quadruped robot with a multi-joint spine adopting a 1DoF closed-loop linkage |
| title_fullStr | High-speed running quadruped robot with a multi-joint spine adopting a 1DoF closed-loop linkage |
| title_full_unstemmed | High-speed running quadruped robot with a multi-joint spine adopting a 1DoF closed-loop linkage |
| title_short | High-speed running quadruped robot with a multi-joint spine adopting a 1DoF closed-loop linkage |
| title_sort | high speed running quadruped robot with a multi joint spine adopting a 1dof closed loop linkage |
| topic | spine structure closed-loop linkage quadruped robot high-speed running bio-inspired pelvic motion |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2023.1148816/full |
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