DocumentCode
299917
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
Volume
1
fYear
1995
fDate
21-27 May 1995
Firstpage
703
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525366
Filename
525366
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