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Development of a Biomimetic Quadruped Robot

Thanh Tam Ho, Sunghac Choi, Sangyoon Lee

Abstract


This paper presents the design and prototype of a small quadruped robot whose walking motion is realized by two piezocomposite actuators. In this work, a biomimetic approach is applied in designing a quadruped robot in order 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. Experiments showed that the robot can carry an additional load of about 100 gram 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.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2007.v3.609

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