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

研究成果: 雜誌貢獻文章

摘要

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.

原文英語
頁(從 - 到)146-149
頁數4
期刊Advanced Science Letters
14
發行號1
DOIs
出版狀態已發佈 - 2012 七月 1

ASJC Scopus subject areas

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

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  • 引用此

    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