Design of a quadruped walking machine for terrain adaptation

Author

Zhou, Debao ; Low, K.H. ; Zielinska, Teresa

Author_Institution

Sch. of Mech. & Production Eng., Nanyang Technol. Inst., Singapore

fYear

1999

fDate

1999

Firstpage

59

Lastpage

64

Abstract

The design of a legged robot that can walk in various kinds of terrain is a subject in the development of walking machines. The body shape of the proposed robot is rectangular and a simple 2-bar mechanism is proposed as the component of the legs. There are 3 degrees of freedom in each leg. Based on the mechanical structure, the kinetic description including the direct and inverse kinematics is given. The walking sequence can then be achieved according to the kinematic analysis. Design of the robot is explained and the prototype of the robot is presented. Such a robot with its simple structure and full functions can be used as a simple and cheap device for exploration of unknown areas, for transportation, carriage, etc

Keywords

control system synthesis; legged locomotion; motion control; robot kinematics; torque control; inverse kinematics; legged locomotion; mechanical structure; motion control; quadruped walking machine; terrain adaptation; torque control; Kinematics; Kinetic theory; Knee; Leg; Legged locomotion; Mobile robots; Production engineering; Prototypes; Shape; Thigh;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control, 1999. RoMoCo '99. Proceedings of the First Workshop on

Conference_Location

Kiekrz

Print_ISBN

0-7803-5655-1

Type

conf

DOI

10.1109/ROMOCO.1999.791053

Filename

791053