Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study

• Main Authors: Fukuoka, Yasuhiro, Komatsu, Ryunosuke, Machii, Kenta, Yokota, Masaaki, Tobe, Masaki, Ahmad Najmuddin, Ibrahim, Fukui, Takahiro, Habu, Yasushi
• Format: Article
• Language: English
• Published: MDPI 2022
• Subjects: TA Engineering (General). Civil engineering (General); TJ Mechanical engineering and machinery; TS Manufactures
• Online Access: http://umpir.ump.edu.my/id/eprint/34638/1/Pace%20running%20of%20a%20quadruped%20robot%20driven%20by%20pneumatic%20muscle%20actuators.pdf; http://umpir.ump.edu.my/id/eprint/34638/; https://doi.org/10.3390/app12094146; https://doi.org/10.3390/app12094146

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 o...