Mechanism and motion control for a quadruped robot inspired by multi-articular muscle structure and joint coordination

2023 Fiscal Year Final Research Report

• Project/Area Number: 21K14124
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: The University of Electro-Communications (2022-2023); Nagoya University (2021)
• Principal Investigator: Sato Ryuki 電気通信大学, 大学院情報理工学研究科, 助教 (10883572)
• Project Period (FY): 2021-04-01 – 2024-03-31
• Keywords: 脚ロボット / 多関節筋 / 筋腱複合体 / 弾性機構 / 関節間協調 / 生物規範機構

Outline of Final Research Achievements

This research aims to improve the motion performance of a quadruped robot by studying mechanism design and motion control inspired by the kinetic energy transmission mechanism through the multi-articulated muscles in the animals' musculoskeletal systems. We developed the one-legged robot with a leg mechanism inspired by the function of a bi-articular muscle-tendon complex on a hind limb and applied motion control to maximize its jumping motion performance. The jumping experiments using the one-legged robot demonstrate the effectiveness of the mechanism and motion control in dynamic motion. We also developed the gait control for a quadruped robot with the proposed bi-articular muscle-tendon complex mechanism on the legs. The results of the trot gait simulation using the dynamic model of the developed quadruped robot show the feasibility of efficient trotting.

Free Research Field

ロボティクス

Academic Significance and Societal Importance of the Research Achievements

多関節筋は動物の身体の特徴的な構造の1つで，従来の脚ロボットの設計にはあまり見られないが，関節間でのエネルギー伝搬を可能にしたり，関節間の協調を生み出したりするなど，重要な役割を持つ．本研究で提案した機構と制御による成果は，動物の筋骨格を規範とした機構を脚ロボットに導入することで動物並みの運動性能を実現できる可能性を示唆しており，脚ロボットの活動範囲の拡張と実用化につながる可能性を持つ．