Title :
Construction of a quadruped with reduced degrees of freedom
Author :
Yoneda, Kan ; OTA, Yusuke ; Ito, Fumitoshi ; Hirose, Shigeo
Author_Institution :
Dept. of Mech. Eng. & Aerosp. Eng., Tokyo Inst. of Technol., Japan
Abstract :
In general a quadruped has 3 degrees of freedom for each leg, for a total of 12 degrees of freedom. Therefore the mechanism for actuating the leg and control system becomes extremely heavy. This paper describes a new design of a quadruped with 4 degrees of freedom. Arrangement of the degrees of freedom and the principle of walking motion are first explained. Then, verification by a mechanical model is described
Keywords :
legged locomotion; robot kinematics; degrees of freedom; function oriented design; legged locomotion; mechanical model; quadruped; static walking; walking motion; Aerospace engineering; Control systems; Controllability; Indium tin oxide; Leg; Legged locomotion; Postal services; Robots; Stability; Weight control;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.973121
