Motion and Force measures on tortoises to design and control a biomimetic quadruped robot

This paper is concerned with locomotion systems modelling and control; in particular the locomotion of bio-mimetically inspired quadruped robots. Using observations and experimentations, we propose a virtual model of quadruped with no dorsal vertebrae, such as the case in the majority of legged mobile robots. This condition applies to the terrestrial tortoise and makes it a good example for bio-mimetic inspiration. Extensive experiments in vivo and in vitro are conducted to estimate the motion, the kinematics and the dynamic properties of two living subjects and a dead one. The experimental results are used to model, control and simulate the motion of a tortoise-like quadruped robot. The result is TATOR II, a successful example of robots mimicking the mechanical design and motion trajectories of animals; it is a linkage of 15 rigid bodies articulated by 22 degrees of freedom, it is built on the ADAMSView platform and is shown to perform through animation with a motion controller. Analyses of the influence of the phase between legs on the robot speed are also presented. Conclusions and future Works are detailed.