• DocumentCode
    1065934
  • 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
  • Volume
    16
  • Issue
    2
  • fYear
    2009
  • fDate
    6/1/2009 12:00:00 AM
  • Firstpage
    104
  • Lastpage
    114
  • 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;
  • fLanguage
    English
  • Journal_Title
    Robotics & Automation Magazine, IEEE
  • Publisher
    ieee
  • ISSN
    1070-9932
  • Type

    jour

  • DOI
    10.1109/MRA.2009.932524
  • Filename
    5069841
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1065934