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Proceedings Paper

Mechanism And Control Of The Quadruped Walking Robot
Author(s): Hironori Adachi; Eiji Nakano; Noriho Koyachi
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Paper Abstract

This paper provides a description of the quadruped walking robot "TURTLE-1". A new link mechanism named ASTBALLEM is used for the legs of this robot. With this mechanism highly rigid and easily controllable legs are constructed. Each leg has two degrees of freedom and is driven by two DC servo motors. The motion of the legs is controlled by a micro computer and various gaits are generated. Static stability is maintained as the robot walks. Moreover, its walk is quasi-dynamic; that is, it has a manner of walking that has a two legged supporting period.

Paper Details

Date Published: 19 October 1987
PDF: 6 pages
Proc. SPIE 0856, IECON '87: Industrial Applications of Robotics & Machine Vision, (19 October 1987); doi: 10.1117/12.943019
Show Author Affiliations
Hironori Adachi, Mechanical Engineering Laboratory (Japan)
Eiji Nakano, Tohoku University (Japan)
Noriho Koyachi, Mechanical Engineering Laboratory (Japan)


Published in SPIE Proceedings Vol. 0856:
IECON '87: Industrial Applications of Robotics & Machine Vision
Abe Abramovich, Editor(s)

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