A Canine Musculoskeletal Robot for Investigating Biomechanical Functions During Locomotion

Biomimetics replicates biological functions and helps investigate mechanisms and movements. This study focuses on mimicking canine limb structures, particularly the flexible forelimb connection. Due to vestigial clavicles, dogs’ forelimbs attach to the trunk via muscles, creating a suspension system, unlike the skeletal hip joint connection of hindlimbs. Zoological studies highlight this structure's role in movement, but robotics has largely overlooked it. This research aims to clarify its function in locomotion by constructing a musculoskeletal canine‐limb robot using thin McKibben muscles, known for their lightweight, flexibility, and contraction ability even when bent. Experiments demonstrated that adjusting pneumatic pressure in the shoulder muscles influenced stroke length, confirming that the hammock‐like structure enhances movement. Increased pressure resulted in longer strokes, contributing to efficient locomotion. Walking experiments verified successful straight‐line progression using a walking gait, demonstrating the feasibility of this biomimetic approach. These findings suggest that incorporating flexible shoulder structures in quadrupedal robots could improve mobility and adaptability. Future research could further optimize muscle control and gait patterns to enhance robotic performance. By better understanding and implementing biological musculoskeletal features, this study contributes to both zoological biomechanics and robotic advancements, bridging the gap between biology and engineering for more efficient locomotion.