DocumentCode
3339927
Title
Basic design of a hexapod walking robot
Author
Kobayashi, Hisato P. ; Inagaki, Katsuhiko
Author_Institution
Dept. of Electr. Eng., Hosei Univ., Tokyo, Japan
fYear
1991
fDate
19-22 June 1991
Firstpage
1526
Abstract
Describes a hexapod walking robot which is developed for the purpose of transportation in unstructured environments. The authors propose a power system which consists of a gasoline engine and computer controlled electromagnetic clutches and brakes. This system improves the energy efficiency and realizes proper power distribution to each leg, while walking robots have poor energy efficiency fundamentally due to their walking mechanism. The authors also analyze the relation between the robot´s fundamental movement and each joint operation.<>
Keywords
brakes; clutches; computerised control; electromagnetic devices; mobile robots; brakes; computer controlled electromagnetic clutches; energy efficiency; gasoline engine; hexapod walking robot; mobile robots; power distribution; unstructured environments; Control systems; Energy efficiency; Engines; Leg; Legged locomotion; Petroleum; Power distribution; Power system analysis computing; Robots; Transportation;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location
Pisa, Italy
Print_ISBN
0-7803-0078-5
Type
conf
DOI
10.1109/ICAR.1991.240518
Filename
240518
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