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Design of Lizard-inspired Robot with Lateral Body Motion
Cited 1 time in
Web of Science
Cited 1 time in Scopus
- Authors
- Issue Date
- 2018-10
- Publisher
- IEEE
- Citation
- 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), pp.8165-8170
- Abstract
- A new lizard-inspired robot is presented in this paper, which enables to maintain its moving direction by lateral body motions even during high-speed bipedal running. First, a dynamic model for lizard-inspired robot is derived to simulate the lateral body motion of real lizard. Based upon the simulation using dynamic model, the lizard-inspired robot is tactfully built so that its hind leg is optimally designed on a 4-bar mechanism and its body is simplified to consist of two body links and a tail connected by two revolute joints. The experiments verify that the proposed robot can maintain its moving direction via proper lateral motions during high-speed bipedal running similar to that of real lizard.
- ISSN
- 2153-0858
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