DocumentCode
3504791
Title
High-speed walk of a tripod robot based on reaction force
Author
Hashimoto, Toshikazu ; Hirota, Kaoru
Author_Institution
Coll. of Eng., Hosei Univ., Koganei, Japan
Volume
5
fYear
1995
fDate
20-24 Mar 1995
Firstpage
103
Abstract
The main purpose of the method described is to take into account the reaction force and to determine this force first. The advantage of this method is the determination of the high-speed behavior of the robot´s legs and torques that are necessary for its behavior without the computed torque method. The authors made a tripod locomotion robot that has two front legs and a back leg which acts as the driving leg. This allows the robot to apply all of its power at one point. Currently, the maximum speed of the locomotion is 7.8 (cm/s)
Keywords
legged locomotion; motion control; high-speed behavior; high-speed walk; reaction force; tripod robot; Cities and towns; Control systems; Educational institutions; Equations; Leg; Legged locomotion; Motion control; Robot kinematics; Systems engineering and theory; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Fuzzy Systems, 1995. International Joint Conference of the Fourth IEEE International Conference on Fuzzy Systems and The Second International Fuzzy Engineering Symposium., Proceedings of 1995 IEEE Int
Conference_Location
Yokohama
Print_ISBN
0-7803-2461-7
Type
conf
DOI
10.1109/FUZZY.1995.410053
Filename
410053
Link To Document