Title :
Quadruped walking robots at Tokyo Institute of Technology
Author :
Hirose, Shigeo ; Fukuda, Yasushi ; Yoneda, Kan ; Nagakubo, Akihiko ; Tsukagoshi, Hideyuki ; Arikawa, Keisuke ; Endo, Gen ; Doi, Takahiro ; Hodoshima, Ryuichi
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Tokyo
fDate :
6/1/2009 12:00:00 AM
Abstract :
In this article, the design principle of the leg driving mechanism to minimize energy loss and maximize output power is discussed. We will also introduce the gait control methods implemented in our previous quadruped walking robots. Finally, we will survey most of the prototype models of our quadruped walking robots.
Keywords :
mobile robots; energy loss minimization; gait control method; leg driving mechanism design; quadruped walking robot; Angular velocity; Clocks; Energy loss; Fingers; Leg; Legged locomotion; Power generation; Power supplies; Robot kinematics; Torque;
Journal_Title :
Robotics & Automation Magazine, IEEE
DOI :
10.1109/MRA.2009.932524
