Title :
Basic performance experiments for jumping quadruped
Author :
Kikuchi, Fumitaka ; OTA, Yusuke ; Hirose, Shigeo
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan
Abstract :
This paper proposes a new walking and jumping robot, that is expected to get over large debris in the disaster area which is difficult to move around by ordinary walking robot and to find out the victims efficiently as the rescue operation. To acquire stability on uneven terrain in landing, the robot is designed by legs which widely spread like spiders. The legs are consists of 4-bar linkage and driven by a pair of pneumatic cylinders which momentarily produce high power and speed. At this time, basic performance of the pneumatic cylinder is verified for the jumping use. Moreover the one leg model is developed and examined its jumping and landing performances.
Keywords :
legged locomotion; pneumatic actuators; stability; four bar linkage; jumping locomotion; jumping robots; one leg model; pneumatic actuator; pneumatic cylinders; quadruped robot; rescue operation; robot landing performances; stability; uneven terrain landing; walking robot; Aerospace engineering; Couplings; Earth; Electric shock; Engine cylinders; Leg; Legged locomotion; Mobile robots; Pneumatic actuators; Stability;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249678