Development of a quadruped walking robot AiDIN-III using biologically inspired kinematic analysis

• Published in: International journal of control, automation, and systems Vol. 11; no. 6; pp. 1276 - 1289
• Main Authors: Koo, Ig Mo, Tran, Duc Trong, Lee, Yoon Haeng, Moon, Hyungpil, Koo, Ja Choon, Park, Sangdeok, Choi, Hyouk Ryeol
• Format: Journal Article
• Language: English
• Published: Berlin/Heidelberg Springer Berlin Heidelberg 01.12.2013; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Biologists; Control; Control systems; Design engineering; Design parameters; Engineering; Kinematics; Locomotion; Mechatronics; Robotics; Robotics and Automation; Robots; Studies; Systems design; Walking; 제어계측공학; Bio-inspired design; morphological analysis; self-contained quadruped robot
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-013-0020-1

This paper presents a bio-inspired mechanism design for a quadruped walking robot. The approach is derived from the observation on the behaviors of quadruped locomotion, skeletal structure, and the study on the stability of walking based on morphological analysis. In the first, we define the design parameters such as the dimensions of the body and limbs, the center of mass position, and locomotion mechanisms based on surveys on the literatures from biologists. Then, by using the parameters, we propose an useful framework for determining the design parameters of a quadruped walking robot. For implementations, we manufacture a dog-type self-contained quadruped walking robot, named AiDIN-III ( Artificial Digitigrade for Natural Environment version III ) and the effectiveness of the proposed idea is validated via experimental works.