Title :
An omnidirectional dual tripod walking machine: mechanical structure and control
Author :
Wang, J.S. ; Rong, S.N. ; Zhang, B.P. ; Guo, Gongliang ; Gruver, William A.
Author_Institution :
Dept. of Precision Instrum. & Mech., Tsinghua Univ., Beijing, China
Abstract :
When robotic walking machines have multiple degrees of freedom in each leg, their mechanical structure and control can be complex to implement. This complexity is a major obstacle to the practical application of walking machines. This paper analyzes the complexity of walking robots and introduces a new design based on a dual tripod walking mechanism. The emphasis is on the design objectives, mechanical structure, principle of operation, and control
Keywords :
legged locomotion; mechanical structure; omnidirectional dual tripod walking machine; robotic walking machines; Actuators; Agriculture; Earth; Forestry; Instruments; Leg; Legged locomotion; Mechanical engineering; Robot kinematics; Wheels;
Conference_Titel :
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location :
Le Touquet
Print_ISBN :
0-7803-0911-1
DOI :
10.1109/ICSMC.1993.390882
