Title :
Design of a quadruped walking machine for terrain adaptation
Author :
Zhou, Debao ; Low, K.H. ; Zielinska, Teresa
Author_Institution :
Sch. of Mech. & Production Eng., Nanyang Technol. Inst., Singapore
Abstract :
The design of a legged robot that can walk in various kinds of terrain is a subject in the development of walking machines. The body shape of the proposed robot is rectangular and a simple 2-bar mechanism is proposed as the component of the legs. There are 3 degrees of freedom in each leg. Based on the mechanical structure, the kinetic description including the direct and inverse kinematics is given. The walking sequence can then be achieved according to the kinematic analysis. Design of the robot is explained and the prototype of the robot is presented. Such a robot with its simple structure and full functions can be used as a simple and cheap device for exploration of unknown areas, for transportation, carriage, etc
Keywords :
control system synthesis; legged locomotion; motion control; robot kinematics; torque control; inverse kinematics; legged locomotion; mechanical structure; motion control; quadruped walking machine; terrain adaptation; torque control; Kinematics; Kinetic theory; Knee; Leg; Legged locomotion; Mobile robots; Production engineering; Prototypes; Shape; Thigh;
Conference_Titel :
Robot Motion and Control, 1999. RoMoCo '99. Proceedings of the First Workshop on
Conference_Location :
Kiekrz
Print_ISBN :
0-7803-5655-1
DOI :
10.1109/ROMOCO.1999.791053
