DocumentCode
3306609
Title
The six-legged TUM walking robot
Author
Weidemann, H.J. ; Pfeiffer, F. ; Eltze, J.
Author_Institution
Lehrstuhl B fur Mech., Tech. Univ. Munchen, Germany
Volume
2
fYear
1994
fDate
12-16 Sep 1994
Firstpage
1026
Abstract
The paper presents a survey of the six-legged walking robot designed and constructed at the Institute of Mechanics at the Technical University in Munich. This robot was designed in 1993 with special regard for principles found in natural walking of hexapods, which walk and climb very efficiently over arbitrary irregular surfaces. The investigated insect and its main features are presented. A description of the mechanical hardware and electronics used in the robot is included
Keywords
legged locomotion; arbitrary irregular surfaces; hexapods; six-legged TUM walking robot; Actuators; Force measurement; Goniometers; Hardware; Insects; Kinematics; Leg; Legged locomotion; Mechanical sensors; Size measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location
Munich
Print_ISBN
0-7803-1933-8
Type
conf
DOI
10.1109/IROS.1994.407479
Filename
407479
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