DocumentCode :
3519867
Title :
Few D.O.F. Walking Robot with Outer-Wheels
Author :
Tadakuma, Riichiro ; Tadakuma, Kenjiro ; Howe, Robert D.
Author_Institution :
Harvard Univ., Cambridge
fYear :
2007
fDate :
22-25 Sept. 2007
Firstpage :
1117
Lastpage :
1124
Abstract :
This paper describes the design and prototype testing of a few D.O.F. walking robot. This new design has hybrid wheeled-legged mechanism composed of an outer frame with novel omni-directional wheels, "Omni-Balls", and inner legs that provide thrust. Compared to previous hybrid designs, this walking robot has high stability on rough terrain because the wheels are located outside of the legs. In addition, the design permits the use of simplified leg designs with only one or two actuated degrees of freedom. We present performance results from prototype tests and consider implications for enhanced designs.
Keywords :
legged locomotion; stability; hybrid wheeled-legged mechanism; omni-directional wheels; stability; thrust; walking robot; Leg; Legged locomotion; Mobile robots; Prototypes; Robotics and automation; Rough surfaces; Stability; Surface resistance; Surface roughness; Wheels;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Automation Science and Engineering, 2007. CASE 2007. IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
978-1-4244-1154-2
Electronic_ISBN :
978-1-4244-1154-2
Type :
conf
DOI :
10.1109/COASE.2007.4341768
Filename :
4341768
Link To Document :
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