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Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study

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...

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主要な著者: Fukuoka, Yasuhiro, Komatsu, Ryunosuke, Machii, Kenta, Yokota, Masaaki, Tobe, Masaki, Ahmad Najmuddin, Ibrahim, Fukui, Takahiro, Habu, Yasushi
フォーマット: 論文
言語:English
出版事項: MDPI 2022
主題:
TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
TS Manufactures
オンライン･アクセス:http://umpir.ump.edu.my/id/eprint/34638/1/Pace%20running%20of%20a%20quadruped%20robot%20driven%20by%20pneumatic%20muscle%20actuators.pdf
http://umpir.ump.edu.my/id/eprint/34638/
https://doi.org/10.3390/app12094146
https://doi.org/10.3390/app12094146
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id my.ump.umpir.34638
record_format eprints
spelling my.ump.umpir.346382022-09-23T07:12:51Z http://umpir.ump.edu.my/id/eprint/34638/ Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study Fukuoka, Yasuhiro Komatsu, Ryunosuke Machii, Kenta Yokota, Masaaki Tobe, Masaki Ahmad Najmuddin, Ibrahim Fukui, Takahiro Habu, Yasushi TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery TS Manufactures 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 out of phase, by a quadruped robot with realistic legs driven by pneumatic muscle actuators. The robot is controlled by weakly coupled two-level central pattern generators to generate a pace gait with leg loading feedback. Each leg is moved through four sequential phases like an animal, i.e., touch-down, stance, lift-off, and swing phases. We find that leg loading feedback to the central pattern generator can contribute to stabilizing pace running with an appropriate cycle autonomously determined by synchronizing each leg’s oscillation with the roll body oscillation without a human specifying the cycle. The experimental results conclude that our proposed neuromorphic controller is beneficial for achieving pace running by a muscle-driven quadruped robot. MDPI 2022-05-01 Article PeerReviewed pdf en cc_by_4 http://umpir.ump.edu.my/id/eprint/34638/1/Pace%20running%20of%20a%20quadruped%20robot%20driven%20by%20pneumatic%20muscle%20actuators.pdf Fukuoka, Yasuhiro and Komatsu, Ryunosuke and Machii, Kenta and Yokota, Masaaki and Tobe, Masaki and Ahmad Najmuddin, Ibrahim and Fukui, Takahiro and Habu, Yasushi (2022) Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study. Applied Sciences (Switzerland), 12 (9). pp. 1-17. ISSN 2076-3417. (Published) https://doi.org/10.3390/app12094146 https://doi.org/10.3390/app12094146
institution Universiti Malaysia Pahang Al-Sultan Abdullah
building UMPSA Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang Al-Sultan Abdullah
content_source UMPSA Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
topic TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
TS Manufactures
spellingShingle TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
TS Manufactures
Fukuoka, Yasuhiro
Komatsu, Ryunosuke
Machii, Kenta
Yokota, Masaaki
Tobe, Masaki
Ahmad Najmuddin, Ibrahim
Fukui, Takahiro
Habu, Yasushi
Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study
description 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 out of phase, by a quadruped robot with realistic legs driven by pneumatic muscle actuators. The robot is controlled by weakly coupled two-level central pattern generators to generate a pace gait with leg loading feedback. Each leg is moved through four sequential phases like an animal, i.e., touch-down, stance, lift-off, and swing phases. We find that leg loading feedback to the central pattern generator can contribute to stabilizing pace running with an appropriate cycle autonomously determined by synchronizing each leg’s oscillation with the roll body oscillation without a human specifying the cycle. The experimental results conclude that our proposed neuromorphic controller is beneficial for achieving pace running by a muscle-driven quadruped robot.
format Article
author Fukuoka, Yasuhiro
Komatsu, Ryunosuke
Machii, Kenta
Yokota, Masaaki
Tobe, Masaki
Ahmad Najmuddin, Ibrahim
Fukui, Takahiro
Habu, Yasushi
author_facet Fukuoka, Yasuhiro
Komatsu, Ryunosuke
Machii, Kenta
Yokota, Masaaki
Tobe, Masaki
Ahmad Najmuddin, Ibrahim
Fukui, Takahiro
Habu, Yasushi
author_sort Fukuoka, Yasuhiro
title Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study
title_short Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study
title_full Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study
title_fullStr Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study
title_full_unstemmed Pace running of a quadruped robot driven by pneumatic muscle actuators : An experimental study
title_sort pace running of a quadruped robot driven by pneumatic muscle actuators : an experimental study
publisher MDPI
publishDate 2022
url http://umpir.ump.edu.my/id/eprint/34638/1/Pace%20running%20of%20a%20quadruped%20robot%20driven%20by%20pneumatic%20muscle%20actuators.pdf
http://umpir.ump.edu.my/id/eprint/34638/
https://doi.org/10.3390/app12094146
https://doi.org/10.3390/app12094146
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score 13.251813

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