Advertisement

Method of Design Optimization and Trajectory Implementation on a Small Cat-Like Robot

  • Zewen He
  • Fei MengEmail author
  • Huaxin Liu
  • Lei Wang
  • Xin Zhu
  • Xuxiao Fan
  • Ryuki Sato
  • Aiguo Ming
  • Qiang Huang
Conference paper
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 584)

Abstract

In the field of robotics, small cat-like robots, due to its small size, good flexibility, low energy consumption, has become a research trend. Elastic four-bar linkage mechanism (EFLM) with programmable trajectory, good stability, and certain buffer performance, is an excellent choice for driver design of small quadruped robot. We designed a novel miniature cat-like robot, Og-cat, which is optimized in structural features and special parameters compared with other similar quadruped robots. Moreover, we developed a method that can make leg trajectory implement accurately for robots using EFLM. A trajectory realization function is obtained through MATLAB fitting so that the trajectory can be executed precisely. The proposed method has been confirmed on our small quadruped robot Og-cat.

Keywords

Quadruped robot Mechanical optimization Inverse kinematics 

Notes

Acknowledgment

This work was supported in part by the National Natural Science Foundation of China under Grant 61673069 and Grant 61703044.

References

  1. 1.
    Ananthanarayanan, A., Azadi, M., Kim, S.: Towards a bio-inspired leg design for high-speed running. Bioinspiration Biomimetics 7(4) (2012). 046,005CrossRefGoogle Scholar
  2. 2.
    Kazama, E., Sato, R., Miyamoto, I., Ming, A., Shimojo, M.: Development of a small quadruped robot with bi-articular muscle-tendon complex. In: IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1059–1064 (2015)Google Scholar
  3. 3.
    MacFadden, L.N., Brown, N.A.: Biarticular hip extensor and knee flexor muscle moment arms of the feline hindlimb. J. Biomech. 40(15), 3448–3457 (2007)CrossRefGoogle Scholar
  4. 4.
    MacFadden, L.N., Brown, N.A.T.: The influence of modeling separate neuromuscular compartments on the force and moment generating capacities of muscles of the feline hindlimb. J. Biomech. Eng. 132(8) (2010). 081,003Google Scholar
  5. 5.
    Raibert, M., Blankespoor, K., Nelson, G., Playter, R.: Bigdog, the rough-terrain quadruped robot. IFAC Proc. vol. 41(2), 10822–10825 (2008)CrossRefGoogle Scholar
  6. 6.
    Sato, R., Miyamoto, I., Sato, K., Ming, A., Shimojo, M.: Development of robot legs inspired by bi-articular muscle-tendon complex of cats. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1552–1557 (2015)Google Scholar
  7. 7.
    Semini, C., Tsagarakis, N.G., Guglielmino, E., Focchi, M., Cannella, F., Caldwell, D.G.: Design of HYQ – a hydraulically and electrically actuated quadruped robot. Proc. Inst. Mech. Eng. Part I: J. Syst. Control Eng. 225(6), 831–849 (2011)CrossRefGoogle Scholar
  8. 8.
    Seok, S., Wang, A., Chuah, M.Y., Otten, D., Lang, J., Kim, S.: Design principles for highly efficient quadrupeds and implementation on the MIT cheetah robot. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 3307–3312 (2013)Google Scholar
  9. 9.
    Seok, S., Wang, A., Otten, D., Kim, S.: Actuator design for high force proprioceptive control in fast legged locomotion. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1970–1975 (2012)Google Scholar
  10. 10.
    Spröwitz, A., Tuleu, A., Vespignani, M., Ajallooeian, M., Badri, E., Ijspeert, A.J.: Towards dynamic trot gait locomotion: design, control, and experiments with cheetah-cub, a compliant quadruped robot. Int. J. Rob. Res. 32(8), 932–950 (2013)CrossRefGoogle Scholar
  11. 11.
    Zajac, F.E., Zomlefer, M.R., Levine, W.S.: Hindlimb muscular activity, kinetics and kinematics of cats jumping to their maximum achievable heights. J. Exp. Biol. 91(1), 73–86 (1981)Google Scholar

Copyright information

© CISM International Centre for Mechanical Sciences 2019

Authors and Affiliations

  • Zewen He
    • 1
  • Fei Meng
    • 1
    • 2
    Email author
  • Huaxin Liu
    • 2
    • 3
  • Lei Wang
    • 1
  • Xin Zhu
    • 2
  • Xuxiao Fan
    • 2
  • Ryuki Sato
    • 3
  • Aiguo Ming
    • 1
    • 3
  • Qiang Huang
    • 1
    • 2
  1. 1.School of Mechatronical EngineeringBeijing Institute of TechnologyBeijingPeople’s Republic of China
  2. 2.Beijing Advanced Innovation Center for Intelligent Robots and SystemsBeijing Institute of TechnologyBeijingPeople’s Republic of China
  3. 3.Department of Mechanical Engineering and Intelligent SystemsThe University of Electro-CommunicationsTokyoJapan

Personalised recommendations