Pace Running of a Quadruped Robot Driven by Pneumatic Muscle Actuators: An Experimental Study

• Published in: Applied sciences Vol. 12; no. 9; p. 4146
• Main Authors: Fukuoka, Yasuhiro, Komatsu, Ryunosuke, Machii, Kenta, Yokota, Masaaki, Tobe, Masaki, Ibrahim, Ahmad Najmuddin, Fukui, Takahiro, Habu, Yasushi
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 20.04.2022
• Subjects: Actuators; Adaptation; artificial muscle actuators; Artificial muscles; bio-inspired locomotion; Biomimetics; Central pattern generator; Control systems design; Controllers; Energy efficiency; Feedback; Fitness equipment; Gait; Leg; leg loading feedback; Legs; Locomotion; quadrupedal pace running; Robots; Running; Synchronism; two-level central pattern generators (CPG)

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...