Title :
A new method of crutch type walking robot
Author :
Miyake, Takayuki ; Nogai, Tooru
Author_Institution :
Dept. of Syst. Eng., Shizuoka Univ., Hamamatsu, Japan
Abstract :
In this research, a redundant driving system seen in the animate was imitated. The redundant driving system composed of a standard joint of rigid body, a 3-DOF ankle joint and a redundant cable were designed and the effectiveness of the cable control mechanism was confirmed. Moreover, a crutch was incorporated to this mechanism and we studied the complete dynamic walking in which the weight characteristic was also used
Keywords :
drives; legged locomotion; motion control; robot dynamics; ankle joint; crutch type; dynamics; mobile robots; redundant cable; redundant driving system; walking robot; weight characteristic; Actuators; Control systems; Gravity; Humans; Interference; Jacobian matrices; Leg; Legged locomotion; Torque control; Wire;
Conference_Titel :
Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-7803-5038-3
DOI :
10.1109/AIM.1999.803230
