Development of a quadruped robot with bio-inspired mechanisms for highly efficient dynamic locomotion

2021 Fiscal Year Final Research Report

• Project/Area Number: 20K22389
• Research Category: Grant-in-Aid for Research Activity Start-up
• Allocation Type: Multi-year Fund
• Review Section: 0301:Mechanics of materials, production engineering, design engineering, fluid engineering, thermal engineering, mechanical dynamics, robotics, aerospace engineering, marine and maritime engineering, and related fields
• Research Institution: Nagoya University (2021); The University of Electro-Communications (2020)
• Principal Investigator: Sato Ryuki 名古屋大学, 工学研究科, 特任助教 (10883572)
• Project Period (FY): 2020-09-11 – 2022-03-31
• Keywords: 四脚ロボット / 生物規範機構 / 筋腱複合体 / 運動制御

Outline of Final Research Achievements

In this study, we proposed the bio-inspired elastic mechanisms for a quadruped robot that mimic passive elements of muscles and tendons of the forelimb, hindlimb, and trunk of a cat. We also developed a motion control method to utilize the effects of these elastic mechanisms in the agile motions, such as jumping and running, of the robot. Dynamics simulations and experiments on a prototype robot demonstrated high vertical jumping motion due to the effect of bio-inspired mechanisms. Then, we developed a small quadruped robot with bio-inspired mechanisms in the whole body by integrating these mechanisms.

Free Research Field

ロボティクス

Academic Significance and Societal Importance of the Research Achievements

四脚ロボットの実用化を考えると，安定した歩行のみならず，目的地まで高速に移動したり障害物を飛び越えたりできる瞬発性を伴うロコモーションが必要である．本研究で提案したネコの高度な運動能力に関わる筋骨格構造を規範とした機構と運動制御は，既存のロボットでは難しい瞬発的な運動を実現しうるロボットの新たな設計法および制御法となり，実環境で有用な四脚ロボットの開発に近づく鍵になるといえる．