Design of Lizard-Inspired Robot with Lateral Body Motion
Jeongryul Kim, Hongmin Kim, Youngsoo Kim, Hwa Soo Kim, Jongwon Kim
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.
BibTeX
@inproceedings{iros2018_designoflizardin,
title = {Design of Lizard-Inspired Robot with Lateral Body Motion},
author = {Jeongryul Kim and Hongmin Kim and Youngsoo Kim and Hwa Soo Kim and Jongwon Kim},
booktitle = {IROS 2018},
year = {2018}
}