Fukuoka, Yasuhiro and Komatsu, Ryunosuke and Machii, Kenta and Yokota, Masaaki and Tobe, Masaki and Ahmad Najmuddin, Ibrahim and Fukui, Takahiro and Habu, Yasushi (2022) Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study. Applied Sciences (Switzerland), 12 (9). pp. 1-17. ISSN 2076-3417. (Published)
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Abstract
Our goal is to design a neuromorphic locomotion controller for a prospective bioinspired quadruped robot driven by artificial muscle actuators. In this paper, we focus on achieving a running gait called a pace, in which the ipsilateral pairs of legs move in phase, while the two pairs together move out of phase, by a quadruped robot with realistic legs driven by pneumatic muscle actuators. The robot is controlled by weakly coupled two-level central pattern generators to generate a pace gait with leg loading feedback. Each leg is moved through four sequential phases like an animal, i.e., touch-down, stance, lift-off, and swing phases. We find that leg loading feedback to the central pattern generator can contribute to stabilizing pace running with an appropriate cycle autonomously determined by synchronizing each leg’s oscillation with the roll body oscillation without a human specifying the cycle. The experimental results conclude that our proposed neuromorphic controller is beneficial for achieving pace running by a muscle-driven quadruped robot.
| Item Type: | Article |
|---|---|
| Additional Information: | Indexed by Scopus |
| Uncontrolled Keywords: | Artificial muscle actuators; Bio-inspired locomotion; Leg loading feedback; Quadrupedal pace running; Two-level central pattern generators (CPG) |
| Subjects: | T Technology > TA Engineering (General). Civil engineering (General) T Technology > TJ Mechanical engineering and machinery T Technology > TS Manufactures |
| Faculty/Division: | Faculty of Manufacturing and Mechatronic Engineering Technology |
| Depositing User: | Mr Muhamad Firdaus Janih@Jaini |
| Date Deposited: | 23 Sep 2022 07:12 |
| Last Modified: | 23 Sep 2022 07:12 |
| URI: | http://umpir.ump.edu.my/id/eprint/34638 |
| Download Statistic: | View Download Statistics |
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