Name
Abstract | ||
|---|---|---|
This paper provides a description of the quadruped walking robots developed at the Mechanical Engineering Laboratory and their gait analysis. Legged locomotion has the potential to adapt to changes in walking condition, but also has the problems such as the complexity. To overcome the problems, a new link mechanism named ASTBALLEM is used for legs of the robots, and highly rigid and easily controllable legs are constructed using this mechanism. To make a legged robot walk stably, it is necessary to provide a suitable gait. In this paper. two kinds of gait are considered. One is periodic gait, and it is systematically classified by two parameters. Using this classification method, suitable gaits for static walking and dynamic walking are selected. The other is adaptive gait. In order to realize the potential of walking robots, it is necessary to sense the walking condition and change the gait. Two adaptive gait scheme are proposed in this paper. One is a gait which adapts to the position of the center of gravity of the robot, and the other is a gait for inclined terrain. Both gaits use force sensor data for detecting the change in walking condition. All the gaits discussed in this paper are experimentally evaluated. |
Year | Venue | Keywords |
|---|---|---|
1993 | JOURNAL OF MECHANICAL ENGINEERING LABORATORY | LINK MECHANISM,PERIODIC GAIT,STATIC WALKING,DYNAMIC WALKING,ADAPTIVE GAIT,CENTER OF GRAVITY,INCLINED TERRAIN |
Field | DocType | Volume |
Power walking,Gait,Computer science,Effect of gait parameters on energetic cost,Physical medicine and rehabilitation,Gait (human),Robot,Center of gravity | Journal | 46 |
Issue | ISSN | Citations |
2 | 0388-4252 | 0 |
PageRank | References | Authors |
0.34 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hironori Adachi | 1 | 27 | 4.72 |
| Noriho Koyachi | 2 | 450 | 49.92 |
| Tatsuya Nakamura | 3 | 7 | 2.65 |
| Eiji Nakano | 4 | 0 | 0.34 |