Title :
High-speed walk of a tripod robot based on reaction force
Author :
Hashimoto, Toshikazu ; Hirota, Kaoru
Author_Institution :
Coll. of Eng., Hosei Univ., Koganei, Japan
Abstract :
The main purpose of the method described is to take into account the reaction force and to determine this force first. The advantage of this method is the determination of the high-speed behavior of the robot´s legs and torques that are necessary for its behavior without the computed torque method. The authors made a tripod locomotion robot that has two front legs and a back leg which acts as the driving leg. This allows the robot to apply all of its power at one point. Currently, the maximum speed of the locomotion is 7.8 (cm/s)
Keywords :
legged locomotion; motion control; high-speed behavior; high-speed walk; reaction force; tripod robot; Cities and towns; Control systems; Educational institutions; Equations; Leg; Legged locomotion; Motion control; Robot kinematics; Systems engineering and theory; Torque;
Conference_Titel :
Fuzzy Systems, 1995. International Joint Conference of the Fourth IEEE International Conference on Fuzzy Systems and The Second International Fuzzy Engineering Symposium., Proceedings of 1995 IEEE Int
Conference_Location :
Yokohama
Print_ISBN :
0-7803-2461-7
DOI :
10.1109/FUZZY.1995.410053
