Generally, animal robots have actuators that drive only a single joint. However, the limbs of animals not only have single joint muscles, but also bi-articular muscles. Bi-articular muscles are critical because they function across two joints. Three antagonistic muscle pairs are constructed of six muscles. A combination of one bi-articular and two single joint muscles is defined as providing functional effective muscular strength. Therefore, a quadruped robot with a mechanism that imitates a bi-articular muscle is developed in this research, and its attitude control is proposed.
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