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: 雜誌貢獻期刊論文同行評審


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.

頁(從 - 到)146-149
期刊Advanced Science Letters
出版狀態已發佈 - 2012 7月

ASJC Scopus subject areas

  • 一般電腦科學
  • 健康(社會科學)
  • 一般數學
  • 教育
  • 一般環境科學
  • 一般工程
  • 一般能源


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