Development of a Quadruped Walking Entertainment Robot with Gravitationally Decoupled Actuation -Fundamental Study of the Drive System Using a Dynamics Simulator-

Mammal-type entertainment robots are popular due to their friendly appearance，but there are few examples of robots that walk only on their legs due to power consumption problems．In this study，we propose a mammal-type electric quadruped robot that employs a Gravitationally Decoupled Actuation (GDA) to enable high-speed movement while minimizing power consumption．We developed a dynamics simulator for the robot’s design and used it to select actuators．Additionally，the effectiveness of GDA was confirmed by calculating the torque and rotational speed of the selected actuators during walking．