Proceedings ArticleDOI
Research on a six-legged walking robot with parallel mechanism
Y. Ota,Y. Inagaki,Kan Yoneda,Shigeo Hirose +3 more
- Vol. 1, pp 241-248
TLDR
A new lightweight six-legged robot is developed which uses a simple mechanism and can move and work with high efficiency and has satisfactory performance not only as a walking robot but also as an active walking platform.Abstract:
A new lightweight six-legged robot is developed which uses a simple mechanism and can move and work with high efficiency. This robot consists of two leg-bases with three legs each and walks by moving each leg-base alternately. These leg-bases are connected to each other through a 6-DOF mechanism. Thus, when the robot stands on three legs, or one leg-base is placed on the ground, the other leg-base can be used as a 6-DOF manipulator or active working platform. The output force, velocity, and movable range of various mechanisms for connecting the two leg-bases were compared and the results showed that good performance could be achieved with a serial-parallel hybrid mechanism consisting of three 6-DOF serial linked arms positioned with radial symmetry about the center of each leg-base, each composed of two active and four passive joints. Walking experiments with this robot confirm that this mechanism has satisfactory performance not only as a walking robot but also as an active walking platform.read more
Citations
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Journal ArticleDOI
Sensor-driven neural control for omnidirectional locomotion and versatile reactive behaviors of walking machines
TL;DR: In this article, modular neural control structures for different walking machines utilizing discrete-time neurodynamics are described, where a simple neural oscillator network serves as a central pattern generator producing the basic rhythmic leg movements.
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A Survey of Wall Climbing Robots: Recent Advances and Challenges
TL;DR: A detailed review of wall climbing robots categorizing them into six distinct classes based on the adhesive mechanism that they use is presented, expanding beyond adhesive mechanisms by discussing a set of desirable design attributes of an ideal glass facade cleaning robot.
Book ChapterDOI
Locomotion Analysis of Hexapod Robot
TL;DR: The most studied problem for multi-legged robots concerns how to determine the best sequence for lifting off and placing the feet (gait/locomotion planning).
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Realization of dynamic human-carrying walking by a biped locomotor
TL;DR: WL-16, a biped locomotor developed based on WL-15's basic design using new gimbals' mechanisms with small backlash and new linear actuators dealing with a heavy payload and a wide movable range, is described.
Proceedings ArticleDOI
Design of a battery-powered multi-purpose bipedal locomotor with parallel mechanism
TL;DR: The design of a battery driven bipedal robot, which uses 6-DOF parallel mechanisms for its each leg that is applicable to various fields, such as medical, welfare and entertainment is described.
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