High-Propulsive Trunk Flexion–Extension Mechanism Using Cheetah-Inspired S-Shaped Spine
摘要
In this paper, to improve the agility of quadruped robots, we propose a high-propulsive flexion–extension mechanism using an S-shaped flexible spine inspired by the curved shape of the back of a cheetah. To confirm the effectiveness of the proposed mechanism, we built a trunk-driven running robot and compared its performance with that of a conventional flexion–extension mechanism. The experimental results showed that the running speed of the robot with the proposed flexion–extension mechanism was approximately 1.5 times higher than that of the conventional model.