DocumentCode
2043428
Title
Construction of a quadruped with reduced degrees of freedom
Author
Yoneda, Kan ; OTA, Yusuke ; Ito, Fumitoshi ; Hirose, Shigeo
Author_Institution
Dept. of Mech. Eng. & Aerosp. Eng., Tokyo Inst. of Technol., Japan
Volume
1
fYear
2000
fDate
2000
Firstpage
28
Abstract
In general a quadruped has 3 degrees of freedom for each leg, for a total of 12 degrees of freedom. Therefore the mechanism for actuating the leg and control system becomes extremely heavy. This paper describes a new design of a quadruped with 4 degrees of freedom. Arrangement of the degrees of freedom and the principle of walking motion are first explained. Then, verification by a mechanical model is described
Keywords
legged locomotion; robot kinematics; degrees of freedom; function oriented design; legged locomotion; mechanical model; quadruped; static walking; walking motion; Aerospace engineering; Control systems; Controllability; Indium tin oxide; Leg; Legged locomotion; Postal services; Robots; Stability; Weight control;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location
Nagoya
Print_ISBN
0-7803-6456-2
Type
conf
DOI
10.1109/IECON.2000.973121
Filename
973121
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