CPG network to generate the jump action of cat´s skeleton robot with a waist joint

Biomimetic robots are widely researched to achieve jumping motions. Felines can generate the agility by using strong hinder legs, and has a flexible body. We focus on the skeleton of quadruped animals to make a jump behavior. Consequently, we consider the waist joint, and the difference of structure between front and hind legs as important points for a jumping action. In this paper, we consider the robot based on cat´s frame which has a waist joint. We propose structures of central pattern generator (CPG) network based on biarticular muscles to create a jump motion. The proposed CPG networks are implemented in the cat´s skeleton robot using ”OpenHRP3” which is a dynamics simulator. We evaluate jumping motions from simulation results and verify the validity of the proposed networks.