Posture control of 6-leg walking robot

Author

Fukuda, Toshio ; Adachi, Yuji ; Hoshino, Haruo ; Kosuge, Kazuhiro ; Matsunaga, Isao ; Arai, Fumihito

Author_Institution

Dept. of Mechano-Inf. & Syst., Nagoya Univ., Japan

Volume

1

fYear

1995

fDate

21-27 May 1995

Firstpage

1006

Abstract

This paper describes a walking method and inclination control experiments of the new omni-directional walking robot, which has six legs and can move in any direction. The mechanism consists of a parallel link mechanism connecting the two frames with three linear actuators. Legs are attached to each frame. The relative position and angle of the two frames are selected arbitrarily in accordance with the length of three actuators, and the posture of it´s upper surface are changed with extendable legs. The walking mechanism is composed by combining the two functions. The mechanism and control method of this robot are presented in this paper

Keywords

legged locomotion; position control; 6-leg walking robot; extendable legs; inclination control experiments; omni-directional walking robot; parallel link mechanism; posture control; walking method; Hydraulic actuators; Joining processes; Leg; Legged locomotion; Medical robotics; Mobile robots; Orbital robotics; Prototypes; Robotics and automation; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525414

Filename

525414