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Development of a Biomimetic Quadruped Robot

Journal of Bionic Engineering 2007年第4期4卷 193-199页

作者： Thanhtam Ho Sunghac Choi Sangyoon Lee Department of Mechanical Design and Production Engineering Konkuk University Seoul 143-701 Korea

This paper presents the design and prototype of a small quadruped robot whose walking motion is realized by two piezocomposite actuators. In the design, biomimetic ideas are employed to obtain the agility of motions and sustainability of a heavy load. The design of the robot legs is inspired by the leg configuration of insects, two joints （hip and knee） of the leg enable two basic motions, lifting and stepping. The robot frame is designed to have a slope relative to the horizontal plane, which makes the robot move forward. In addition, the bounding locomotion of quadruped animals is implemented in the robot. Experiments show that the robot can carry an additional load of about 100 g and run with a fairly high velocity. The quadruped prototype can be an important step towards the goal of building an autonomous mobile robot actuated by piezocomposite actuators.

关键词： quadruped robot piezocomposite actuator bounding locomotion

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Piezoelectrically Actuated Biomimetic Self-Contained Quadruped bounding Robot

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Journal of Bionic Engineering 2009年第1期6卷 29-36页

作者： Thanhtam Ho Sangyoon Lee Department of Mechanical Design and Production Engineering Konkuk UniversitySeoul 143-701Korea

This paper presents the development of a mesoscale self-contained quadruped mobile robot that employs two pieces of piezocomposite actuators for the bounding *** design of the robot leg is inspired by legged insects and animals, and the biomimetic concept is implemented in the robot in a simplified form,such that each leg of the robot has only one degree of *** lack of degree of freedom is compensated by a slope of the robot frame relative to the horizontal *** the implementation of the self-contained mobile robot,a small power supply circuit is designed and installed on the *** results show that the robot can locomote at about 50 mm·s^(-1)with the circuit on board,which can be considered as a significant step toward the goal of building an autonomous legged robot actuated by piezoelectric actuators.

关键词： piezoelectric actuator quadruped robot bounding locomotion self-contained legged robot

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