Design of a Cockroach-like Running Robot for the 2004 SAE Walking Machine Challenge
نویسندگان
چکیده
Captain Basile is a robot inspired from the cockroach and built to participate at the SAE Walking Machine Challenge 2004, an undergraduate competition of walking robots. The robot weighs 35 kg and is 86 cm long, 58 cm wide and 38 cm tall. Initially validated by the use of dynamic simulations, this pneumatic actuated hexapod is characterised by specialized legs, passive visco-elastic elements and a self-stabilizing posture. This mechanical system allows straight line running at 1.11 m/s and turning at 33.2 degrees per seconds with a simple feedforward control system. This paper presents Captain Basile, its design, performances and the results from speed experiment.
منابع مشابه
Energy Dissipation Rate Control Via a Semi-Analytical Pattern Generation Approach for Planar Three-Legged Galloping Robot based on the Property of Passive Dynamic Walking
In this paper an Energy Dissipation Rate Control (EDRC) method is introduced, which could provide stable walking or running gaits for legged robots. This method is realized by developing a semi-analytical pattern generation approach for a robot during each Single Support Phase (SSP). As yet, several control methods based on passive dynamic walking have been proposed by researchers to provide an...
متن کاملThe Design and Realization of a Gait Rehabilitation Training Robot with Body Supporting Mechanism
With the increasing number of people who have problems with their walking, a new type of gait rehabilitation training robot has been put forward and designed. In order to meet the requirements of the gait rehabilitation training, the whole mechanical structure and control system have been designed, and the model machine for gait rehabilitation training robot has been made. Using the human gait ...
متن کاملDynamics, Stability Analysis and Control of a Mammal-Like Octopod Robot Driven by Different Central Pattern Generators
In this paper, we studied numerically both kinematic and dynamic models of a biologically inspired mammal-like octopod robot walking with a tetrapod gait. Three different nonlinear oscillators were used to drive the robot’s legs working as central pattern generators. In addition, also a new, relatively simple and efficient model was proposed and investigated. The introduced model of the gait ge...
متن کاملConceptual Design of a Gait Rehabilitation Robot
Gait rehabilitation using body weight support on a treadmill is a recommended rehabilitation technique for neurological injuries, such as spinal cord injury. In this paper, a new robotic orthosis is presented for treadmill training. In the presented design the criteria such as low inertia of robot components, backdrivability, high safety and degrees of freedom based on human walking are conside...
متن کاملPareto design of fuzzy tracking control based on the particle swarm optimization algorithm for a walking robot in the lateral plane on slope
Many researchers have controlled and analyzed biped robots that walk in the sagittal plane. Nevertheless, walking robots require the capability to walk merely laterally, when they are faced with the obstacles such as a wall. In walking robot field, both nonlinearity of the dynamic equations and also having a tracking system cause an effective control has to be utilized to address these problems...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2005