This article presents a new lizard-inspired robot that can maintain its direction of movement via S-shaped lateral body motions during its high-speed bipedal running. For this purpose, a dynamic model and a control scheme for the proposed robot were derived to simulate the S-shaped lateral body motions of a real lizard. Based on simulations using the dynamic model with the proposed control scheme, a prototype of lizard-inspired robot was built to reproduce a bipedal running gait as well as the lateral body motions of a real lizard. The simple robot body consisted of three links connected by two rotational joints and its hind legs were optimally designed upon a four-bar linkage combined with an ankle mechanism. The experimental tests using the proposed robot were performed by confining its motion in the horizontal plane, which demonstrated that the proposed robot can successfully maintain its direction of movement via the S-shaped lateral motion adjusted by the yaw angle of its posterior body during its bipedal running gait similar to the gait of a real lizard.

中文翻译：

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一种新型蜥蜴机器人，具有S形横向身体动作

本文介绍了一种新型蜥蜴机器人，该机器人可以在其高速双足行走过程中通过S形的侧向身体运动来保持其运动方向。为此，推导了所提出的机器人的动力学模型和控制方案，以模拟真实蜥蜴的S形侧向身体运动。基于使用提出的控制方案的动态模型进行的仿真，构建了蜥蜴启发式机器人的原型，以重现两足动物的步态以及真实蜥蜴的侧向运动。简单的机器人主体由通过两个旋转关节连接的三个链接组成，其后腿经过四连杆机构和脚踝机构的优化设计。使用建议的机器人进行的实验测试是通过将其运动限制在水平面内进行的，