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
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;
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
DOI :
10.1109/IROS.1994.407479
