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Animal size impacts locomotion, due to its effect on the influence of gravity, inertia, and an animal’s internal elasticity and damping. We are developing a cat robot to further explore the impact of these four characteristics on animal locomotion. This paper details the mechanical design of this cat robot’s rear limbs, as well as the simulated validation of this design. In future work, we plan to design forelimbs with a floating scapula and test the robot in split-belt treadmill experiments similar to those done in mammalian experiments as we develop its synthetic nervous system controller.

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Mechanical Design of a Feline Robot for Dynamic Scaling Testing

  • 会议论文

  • 发表日期：

    2025年

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  • Amy Budzichowski,
  • Shane Riddle,
  • Rucha Batchu,
  • Tina Chen,
  • Clayton B. Jackson,
  • William R. P. Nourse,
  • Roger D. Quinn

摘要

Animal size impacts locomotion, due to its effect on the influence of gravity, inertia, and an animal’s internal elasticity and damping. We are developing a cat robot to further explore the impact of these four characteristics on animal locomotion. This paper details the mechanical design of this cat robot’s rear limbs, as well as the simulated validation of this design. In future work, we plan to design forelimbs with a floating scapula and test the robot in split-belt treadmill experiments similar to those done in mammalian experiments as we develop its synthetic nervous system controller.