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Designing a Quadrupedal Robot Mimicking Cat Locomotion

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4 Author(s)
Zhang Xiuli ; Beijing Jiaotong Univ., Beijing ; Zheng Haojun ; Liu Peng ; Li Guangming

This paper explored a way to design mechanical structure and motion pattern of a quadrupedal robot to realize pitching motion by mimicking a cat. Four joints configuration styles were obtained by simplifying quadrupedal mammal's body. Referring to the leg motion of a cat, joint motion trajectories were designed and a motion mapping relationship between knee and hip was formulated for the quadrupedal robot. Proved by the experiments with a physical robot, these designs are effective and the quadrupedal robot can walk quickly and smoothly just as a cat does. Otherwise, we find robotic mechanical structure in terms of joint-configuration style, layout of COG, etc. has influences on the performance of the robot. That results in slippage or not-clearance-from-the-ground of feet in motion.

Published in:

Systems, Man and Cybernetics, 2006. SMC '06. IEEE International Conference on  (Volume:6 )

Date of Conference:

8-11 Oct. 2006