A new quadruped walking robot with a natural level trajectory

Chun Ta Chen, Chih Jer Lin, Shi Chang Zeng, Chorng Tyan Lin, Chun Ming Yang, Kuo Kai Hong

Research output: Contribution to journalArticle

Abstract

In this paper the design of a quadruped walking robot with a level trajectory was first reported. The legs of the proposed quadruped robot, in which each leg is comprised of the coxa, femur, tibia and toe, and actuated by two sets of gear trains, are distinct from the jointed legs of conventional walking robots. Thereafter, the dynamic simulations were carried out to validate that the body can remain a level naturally while walking. To mimic quadruped animals, a central pattern generator (CPG) was used to generate the walking patterns. Finally, an embedded control system was employed to implement the locomotion control, and it was verified that the developed quadruped walking robot can work well.

Original languageEnglish
Pages (from-to)146-149
Number of pages4
JournalAdvanced Science Letters
Volume14
Issue number1
DOIs
Publication statusPublished - 2012 Jul 1

Fingerprint

walking
robot
Walking
Robot
trajectory
Trajectories
Robots
Trajectory
Leg
Central Pattern Generator
Central Pattern Generators
Locomotion
Dynamic Simulation
Embedded Systems
control system
Gears
Toes
locomotion
Animals
Tibia

Keywords

  • CPG
  • Embedded control system
  • Quadruped
  • Walking robot

ASJC Scopus subject areas

  • Computer Science(all)
  • Health(social science)
  • Mathematics(all)
  • Education
  • Environmental Science(all)
  • Engineering(all)
  • Energy(all)

Cite this

Chen, C. T., Lin, C. J., Zeng, S. C., Lin, C. T., Yang, C. M., & Hong, K. K. (2012). A new quadruped walking robot with a natural level trajectory. Advanced Science Letters, 14(1), 146-149. https://doi.org/10.1166/asl.2012.3962

A new quadruped walking robot with a natural level trajectory. / Chen, Chun Ta; Lin, Chih Jer; Zeng, Shi Chang; Lin, Chorng Tyan; Yang, Chun Ming; Hong, Kuo Kai.

In: Advanced Science Letters, Vol. 14, No. 1, 01.07.2012, p. 146-149.

Research output: Contribution to journalArticle

Chen, CT, Lin, CJ, Zeng, SC, Lin, CT, Yang, CM & Hong, KK 2012, 'A new quadruped walking robot with a natural level trajectory', Advanced Science Letters, vol. 14, no. 1, pp. 146-149. https://doi.org/10.1166/asl.2012.3962
Chen, Chun Ta ; Lin, Chih Jer ; Zeng, Shi Chang ; Lin, Chorng Tyan ; Yang, Chun Ming ; Hong, Kuo Kai. / A new quadruped walking robot with a natural level trajectory. In: Advanced Science Letters. 2012 ; Vol. 14, No. 1. pp. 146-149.
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