Development of miniature dinosaur-like robot TITRUS-III

The fundamental concepts of the dinosaur-like robot called TITRUS and the mechanism design of TITRUS-IIII are reported. It is based on practical concepts so that it can be applied in the real world. The walking robot has become one of the most attractive themes in robotics. So far the issue has been how we could realize it. This means that the main theme has been how to make it walk However since the biped robot called P-II appeared, the paradigm has been changing into what the application will be. TITRUS-III is based on the concept to realize a practical application. The features are (1) realizing high dynamic stability by using a neck and a. tail as an active damper when the robot walks, (2) standing with the tail to compose a stable supporting triangle so that the robot can work stably and (3) enabling it to do various tasks by applying a manipulator as a neck. The mechanism of the legs is also distinctive, using a coupled drive to compose four degrees of freedom