DocumentCode :
2415931
Title :
Development of quadruped walking robot TITAN-VIII
Author :
Arikawa, Keisuke ; Hirose, Shigeo
Author_Institution :
Dept. of Mechano-Aerosp. Eng., Tokyo Inst. of Technol., Japan
Volume :
1
fYear :
1996
fDate :
4-8 Nov 1996
Firstpage :
208
Abstract :
We discuss the development of the quadruped walking robot TITAN-VIII, especially about its leg mechanism and results of experiments using a one-leg model. In the design of TITAN-VIII, we have considered not only about “high performance of the movement” but also about “low cost”, “simplicity of the treatment”, “simplicity of the functional extension”, etc. We introduce a driving system using wires, which is helpful to achieve these objectives. We first constructed a one-leg model of TITAN-VIII. By using this model, we did experiments and made remarks about the feature of response, velocity, force and energy consumption. From these results, we estimated the limitation of the walking velocity of TITAN-VIII in standard walking posture. We discuss the standard walking posture of TITAN-VIII based on the energy efficiency
Keywords :
drives; force control; legged locomotion; motion control; velocity control; TITAN-VIII; energy consumption; energy efficiency; leg mechanism; one-leg model; quadruped walking robot; walking posture; walking velocity; wire driving system; Batteries; Energy efficiency; Foot; Leg; Legged locomotion; Payloads; Pulleys; Shafts; Standards development; Wire;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-7803-3213-X
Type :
conf
DOI :
10.1109/IROS.1996.570670
Filename :
570670
Link To Document :
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