Pneupard: A biomimetic musculoskeletal approach for a feline-inspired quadruped robot
- 1 November 2013
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1452-1457
- https://doi.org/10.1109/iros.2013.6696540
Abstract
Feline locomotion combines great acrobatic proficiency, unparalleled balance and higher accelerations than other animals. Capable of accelerating from 0 to 100 km h -1 in three seconds, the cheetah (Acinonyx jubatus) is still a mystery which intrigues scientists. Aiming for a better understanding of the source of such higher speeds, we develop a biomimetic platform, where musculoskeletal parameters (range of motion and moment arms) from the biological system can be evaluated with air muscles within a lightweight robotic structure. We performed experiments validating the muscular structure during a treadmill walk, successfully reproducing animal locomotion while adopting an EMG based control method.Keywords
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