A new approach for development of quadruped robot based on biological concepts |
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Authors: | Phuc Thinh Doan Hoang Duy Vo Hak Kyeong Kim and Sang Bong Kim |
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Affiliation: | (1) Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, 305-8568 Tsukuba, Japan;(2) INRIA Rh?ne-Alpes, 38334 Saint-Ismier, France |
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Abstract: | This paper proposes the design and development results of a new quadruped robot. The proposed new quadruped robot has a couple
of advantages of flexible locomotion. The quadruped robot is designed and modeled based on a new concept that is the structure
model with three segments of quadruped legs. New leg configuration with the simplified operation of four hip actuators is
introduced. The posture of the new quadruped robot is more similar to the posture of dog than that of the previous quadruped
robots. The objective of this paper is to develop a quadruped robot, which can walk and run in a trot gait with a simple PID
controller. Numerical simulation and experimental results are shown to prove the locomotion performance of the proposed controller
for the proposed quadruped robot. |
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