This paper presents mechanical design and control of a bio-inspired legged robot. To achieve a fast legged running mechanism, a novel linkage leg structure is designed based on hind legs of domestic cats. The skeletomuscular system and parallel leg movement of a cat are analyzed and applied to determine the link parameters. The hierarchical control architecture is designed according to the biological data to generate and modulate desired gaits. The effectiveness of the leg mechanism design and control is verified experimentally. The legged robot runs at a speed of 46 km/h, which is comparatively higher speed than other existing legged robots.

Abstract
1. 서 론
2. 고양이 다리의 생물학적 특성
    2.1 고양이 다리의 골격 구조
    2.2 고양이 다리의 근육 구조
3. 메커니즘 설계 및 제작
    3.1 메커니즘 개념 설계
    3.2 메커니즘 상세 설계
    3.3 구동부 설계
    3.4 메커니즘 제작
4. 제어 시스템
5. 고속 주행 실험
6. 결론 및 향후 연구 계획
References

• 박종원(KAERI (Korea Atomic Energy Research Institute)) | Jongwon Park Corresponding author