Kim, Jinho Im, Euncheol Lee, Yisoo Cha, Youngsu 2024-08-29T06:00:11Z 2024-08-29T06:00:11Z 2024-08-29 2024-11 0924-4247 https://pubs.kist.re.kr/handle/201004/150514 In this study, a novel quadrupedal robot with origami cylinders for locomotion is proposed. The proposed robot used a bounding gait, and tendon-driven Kresling-patterned origami cylinders as legs. The origami cylinder actuators were controlled by using a predefined signal with conditions determined through series of experiments. The robot moved at locomotion speed of 47.51 mm/s, which is about 0.283 body length per second. Specifically, the locomotion of the robot was analyzed by dividing the gait into multiple phases. During the phases, a dynamics model was developed to describe the motion of the robot. In addition, we observed that the dynamics model's result was in accordance with the experimental result. English Elsevier BV Quadrupedal robot with tendon-driven origami legs Article 10.1016/j.sna.2024.115769 1 Sensors and Actuators, A: Physical, v.378 Sensors and Actuators, A: Physical 378 N scie scopus 001295433200001 2-s2.0-85201018596 Engineering, Electrical & Electronic Instruments & Instrumentation Engineering Instruments & Instrumentation Article OPTIMIZATION ACTUATOR Legged locomotion Mobile robot Origami Soft robot