The document describes the design and control of a cheetah robot modeled after the real cheetah. It summarizes that the robot was designed using anatomical analysis of cheetahs, including musculoskeletal structure and four-jointed legs like a cheetah. A bio-inspired neural control system activates pneumatic muscles in the legs to coordinate a bounding gait. Simulation results showed the robot could run 55% faster with 15% longer strides using a scapula structure compared to without one. The robot weighs around 70 kg and aims to achieve the speed and agility of real cheetahs through biomimetic design and control methods.

1. PRESENTED BY,
NABEEL NK
C5
REG NO: CVANSCS032

2. INTRODUCTION
ANATOMIC DESIGN
BIO-INSPIRED CONTROL
NEURAL MECHANISM CONTROL
BIOMIMETIC DESIGN
CONTROL SYSTEM AND SENSORS
CONCLUSION
REFERENCES

3.  Cheetah is the fastest four-legged animal in the world. Its speed around 112-120
km/h (70 and 75 mph) in short burst covering distance up to 450 meters. It has
the ability to accelerate from 0 to 103 km/h (64 mph) in three seconds.
 Cheetah robot is the existence proof of high speed running in robotics. Its
provides lot of inspiration from its design.
 Cheetah robot is developed using anatomical analysis and design of cheetah.
 Cheetah robot`s prototype is designed and assembled with a pneumatic muscle.
 anatomical and morphological imitation and optimization, a prototype of a
cheetah robot is designed toward ultra-high speed

4.  The idea of adapting high-speed movement and fusing as many as biological
principles as possible for a running robot was the starting point for our
research.
 Cheetah robot has the same joint arrangement as the cheetah.
 Each leg has four joints, and each joint has one degree of freedom. This
arrangement of degrees of freedom is sufficient to adopt a bounding gait.
 We built a musculoskeletal structure following that of the cheetah.

6.  We took the scapula as a part of forelimb, eliminated the function of the wrist
joint, and defined a new articulation between the scapula and the thoracic cage,
namely the STC.
 Some simulation add into the scapula functions of the fore limb structure. We
build two models
1.With scapula
2.Without scapula
 The model with the scapula can ran 55% faster with a 15% longer stride
length than the model without the scapula.
 Cheetah robot has no wrist.
 The mechanical body of the robot weighted 52 kg, while with the power system
the robot weighted approximately 70 kg. And the cheetah weight is
approximately 60±6 kg.

7.  An evolutionary nervous system to coordinated motion of the muscle groups. As
the nervous system is concerned with locomotion, we focused on the neural
mechanism controlling the muscles and the activation relationship among the
muscle groups.
 We considered seven muscles in the model of the hind limb and forelimb.

9.  Bounding gait of cheetah robot. It has four steps
1.Swing
2.Touch down
3.Stance
4.Lift-off
 This four steps could be divided into two phase.
1.Stance-phase
2.Flight-phase
 During the flight phase, the primary task is to avoid the ground and to select a
feasible touchdown angle. This means that the flight phase is a kinematic process.
 stance phase is a typical dynamic process, during which the muscles need exert
significant power to hold the body and to drive the process of fast running.

11.  Biomimetics or biomimicry is the imitation of the models, systems, and elements of
nature for the purpose of solving complex human problems.
 musculoskeletal-type is applied here to actuate joint movement.
 We chose the artificial pneumatic muscle Festo® Fluidic Muscle DMSP as the
actuator to construct the joint actuation

12.  Flexor means the muscle involving in flexion.
 Extensor means the muscle involving in extension .

13.  J-type cushioning foot to absorb the impact force when landing. it has similar
functions and structures to the animal’s foot.
 The cushioning foot was made of spring steel using bending techniques. It is spring
like foot.
 It has three functional part.
1. A toe-it is arc shaped. Which help to contact the ground smoothly and
continuously.
2. A phalange, it is a steel plate. Which helps to give more stability when contact
the ground.
3. And a heal part. It can bend from position A to B at around 50°.

15.  The leg controller is the host, which generates the running pattern and sends the
step transition command to the joint controllers.
 The neural mechanism control method runs in the joint controller to control the
muscles’ activation.
 The dsPIC - a MCU with a DSP engine - was adopted as the processor for the
control system (which completes controlling operation) and the signal collecting
and processing.
 a strain-type force sensor was equipped on the spring-like foot.
 The resistance strain gauge was pasted up on the lateral surface of heel to measure
the deformation. Through the calculation of the leg’s kinetics, we can obtain the
ground reaction force.

16.  The pneumatic muscle was driven by a proportional pressure regulator.
 The power source for the robot system is currently off-board - in future, the cheetah
robot will have an on-board power source consisting of a lithium battery and a high-
pressure carbon-dioxide ice tank.

18. https://www.youtube.com/watch?v=_luhn7TLfWU
https://www.youtube.com/watch?v=chPanW0QWhA
add this videos from the above links….

19.  MIT designed a robot with similar morphological and anatomical characteristics to
the cheetah. Utilizing the muscle-like actuator,prismatic joints ,we proposed a bio
-inspired control method under the biological mechanism to control the leg’s
muscles.
 Through the simulation, the control strategy exhibited three features:
1. The incorporation of more biological knowledge in the controller.
2. The removal of the direct coupling between the controllers for the forelimbs and
hindlimbs.and
3) The automatic generation of the robot bounding rhythmicity via interaction in the
multi-body dynamic system.
 The present model of the cheetah robot did not consider the function of the spine,
which is important for high-speed running. Thus, we will add the spinal segment,
the head-neck segment and the tail segment step-by-step.

20.  biomimetics.mit.edu/
 www.youtube.com/watch?v=_luhn7TLfWU
 www.google.com
 www.wired.com/2015/05/watch-terrifying-cheetah-robot-jump-hurdles/
 www.bostondynamics.com/robot_cheetah.html
 meche.mit.edu/documents/sangbae_CV.pdf
 adaptivemotion.org/AMAM2011/papers/s233.pdf