Title :
Study of walking robot for 3 dimensional terrain
Author :
Arikawa, Keisnkc ; Hirose, Shigeo
Author_Institution :
Dept. of Mechano-Aerospace Eng., Tokyo Inst. of Technol., Japan
Abstract :
In developing legged robots the most important problems are the design of leg mechanism and the determination of how to drive it. We have already suggested the `gravitationally decoupled actuation (GDA)´ and `coupled drive´ for ground walking robot and wall climbing robot respectively. In this paper, we discuss about these problems for a legged robot in `3-dimensional terrain ´, a generalized terrain including not only rough ground but also rough walls and rough ceilings, based on `GDA´ and `coupled drive´
Keywords :
actuators; drives; legged locomotion; motion control; 3D terrain; actuators; coupled drive; gravitationally decoupled actuation; legged robot; mobile robot; rough ceilings; rough ground; rough walls; walking robot; Actuators; Drives; Leg; Legged locomotion; Mobile robots; Optical coupling; Painting; Power generation; Road transportation; Robotics and automation;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525366
