Transition and Trot gait of Horse-type Quadruped Robot

概要

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The purpose of this study is to realize horse-like walking by a quadruped robot. First, in order to understand the gait of horse, we analyzed the gait of a trotting horse in a sagittal plane. We also studied the structure and function of skeleton, equine muscles, and tendons. As a result, in this paper we proposed the model of horse-type quadruped robot. Its characteristics are those : Next the quadruped walking robot PONY was desighed and made. We analyzed the walking horse's video data, and proposed the horse-like gait. Next, we did the simulation experiment to examine the gait. The experiment of the transitional locomotion from walk to trot.
一般社団法人日本機械学会の論文