Origami Pump Actuator Based Pneumatic Quadruped Robot (OPARO)

In this study, we proposed an origami pump actuator based pneumatic quadruped robot (OPARO). The was constructed with a four-leg system controlled by only two motors. Specifically, the forelegs and hindlegs are pneumatically coupled to operate simultaneously tendon-driven system. performs pumping actuating supply air hindlegs, passively actuated from forelegs. We conducted series of experiments evaluate mobility performance OPARO. measured posture each leg analyzed movement determine operating mechanism in locomotion. motion, gait, repeatability OPARO were experimental results. Additionally, parametric study tendencies at different gait frequencies motor inputs. moves maximum velocity 0.11 body length per second (10.29 mm/s). Furthermore, evaluated various patterns according duty ratios floor surfaces. Moreover, steering demonstrated. found that is adequate for without external