Basic concept and mechanical design of dinosaur-like robot TITRUS-II

The mechanism design and fundamental concepts of the dinosaur-like robot, called TITRUS-II, are reported. It is based on practical concepts so that it can be applied in the real world. The main issue is how to make it walk. However, since the biped robot called P-II appeared, the paradigm has been focussed on its application. TITRUS-II is based on the concept to realize a practical application. Its features include: 1) realizing high dynamic stability by using the neck and tail as an active damper during walking; 2) standing with the tail to compose a stable supporting triangle so that it can work stably; and 3) enabling it to do various tasks by applying a manipulator as a neck. The mechanism of the legs is designed using a coupled drive with four degrees of freedom