Development of Quadruped walking Robot with Bi-articular Muscle Actuator.
نویسندگان
چکیده
منابع مشابه
Study on Quadruped Walking Robot
Though development of a practical walking robot is not easy at all, walking robots have many practical advantages resulting from moving functions peculiar to this type of robots including excellent moving characteristics and working characteristics on uneven land. Paying special attention to the encouraging possibility of the walking robot, the authors have been continuing research and developm...
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Quadruped robots have unique capabilities for motion over uneven natural environments. This article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. First, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-DOF quadruped robot. Thereafter, an inverse-dynamics...
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ژورنال
عنوان ژورنال: Journal of Life Support Engineering
سال: 2005
ISSN: 1341-9455,1884-5827
DOI: 10.5136/lifesupport.17.supplement_36