Title :
A study on trunk stiffness and gait stability in quadrupedal locomotion using musculoskeletal robot
Author :
Tsujita, Katsuyoshi ; Miki, Kenji
Author_Institution :
Dept. of Biomed. Eng., Osaka Inst. of Technol., Osaka, Japan
Abstract :
In this study, a feasibility study on the stability of gait patterns with changeable body stiffness is reported. The periodic motions of the legs are generated as a rhyhmic motion. The stability of locomotion strongly depends on the mechanical properties of the body mechanism, especially the joint stiffness. In this report, the muscle tone of the robot motion at the trunk is changeable by using the changeable elasticity of the pneumatic actuators. The stability of quadruped locomotion in crawl, trot and pace patterns with changeable body stiffness was evaluated with hardware experiments.
Keywords :
elastic constants; elasticity; legged locomotion; motion control; stability; body mechanism; changeable body stiffness; changeable elasticity; gait pattern stability; gait stability; hardware experiment; musculoskeletal robot; pace pattern; periodic leg motion; pneumatic actuator; quadrupedal locomotion; rhyhmic motion; robot motion muscle tone; trunk stiffness; Actuators; Dynamics; Generators; Joints; Legged locomotion; Pneumatic systems;
Conference_Titel :
Advanced Robotics (ICAR), 2011 15th International Conference on
Conference_Location :
Tallinn
Print_ISBN :
978-1-4577-1158-9
DOI :
10.1109/ICAR.2011.6088641
