Running Dog Robot project building overview and explanation

The objective of the project is to explore the design principles of biologically inspired legged running robots by building a running dog.

Explanation

Inspired by biomechanics studies, the project is focused on a minimalistic model of rapid locomotion of quadruped robots. This obtains further understanding of locomotion mechanisms in biological systems and achieves technology for a form of rapid legged locomotion.

The design concept adheres to an integrated macroscopic design of the whole body of a dog since biological systems have an exquisitely well-balanced organism in macroscopic as well as microscopic dimensions. With respect to the number of passive joints, dimensions of limbs, weight, and properties and locations of muscles, the musculoskeletal design of a canine was mimicked based on an anatomical study of the dog. A body structure is incarnated by a compromise between nature and technology.

Aluminum is used to construct the skeleton of the robot. There are 28 passive joints in the skeleton and each of which is one passive rotational degree of freedom. Electric motors connected with a wire and a spring in series are incorporated by a muscle-like actuation method to control the design of passive joints.