This paper describes the Six-legged Integrated Locomotion and Manipulation Robot with an omni-directional walking mechanism and 4 d.o.f. manipulator. The walking mechanism consists of a parallel link mechanism connecting the two frames with three linear actuators, and this robot has six extendable legs and can move in any direction. The relative position and angle of the two frames are selected...

Though a legged robot has high terrain adaptability as compared with a wheeled vehicle, its moving speed is considerably low in general. For attaining a high moving speed with a legged robot, a dynamically stable gait, such as running for a biped robot and a trot gait or a bound gait for a quadruped robot, is a promising solution. However, the energy efficiency of the dynamically stable gait is...

According to bionics and simplified octopus structure, this paper designed a universal mobile quadruped robot and adopted Denavit-Hartenberg system to analyze the single leg kinematics of a robot, obtaining its kinematics equation. Also, through the method of separating variables, this paper solved its inverse kinematics and got the joint angle. A walking gait is planned and the joint angle of ...

This paper describes insect type micro robots controlled by a CMOS IC of hardware neural networks. The micro robot is fabricated by the micro electro mechanical systems (MEMS) technology using a silicon wafer, and the actuator is composed of artificial muscle wires on the basis of shape memory alloy. Insect-like walking is achieved by link mechanisms that transform the actuator’s rotational mot...

This paper presents a mobile robot navigation method based on human walking trajectory in intelligent space. Unlike the traditional navigation methods, the proposed method enables the robot to walk a meaningful path, which reflects human activity patterns in daily life. Human walking trajectories are extracted using multiple distributed vision cameras in intelligent space. To group trajectories...

Walking-robot technology has already achieved an important stage of development, as demonstrated in a few real applications. However, walking robots still need further improvement if they are to compete with traditional vehicles. A potential improvement could be made through optimization at design time. A better distribution of the legs around a robot’s body can help decrease actuator size in t...

This paper presents a new type of mechanism and trajectory planning strategy for bipedal walking robot. The newly designed mechanism is able to improve the performance of bipedal walking robot in terms of energy efficiency and weight reduction by utilizing minimum number of actuators. The usage of parallelogram mechanism eliminates the needs of having an extra actuator at the knee joint. This m...

We describe the design and construction of a quadruped robot which walks on uneven terrain. A control system which produces a statically stable gait has been implemented; results showing a straight and turning gait are presented. The control of quadruped robots poses interesting challenges due to a small stability margin (when compared to hexapods for example). For this reason most implemented ...

General gait design for a walking robot has an assumption that the weight of a leg is negligible compared to that of body. Under the assumption, only the gravity center of the body is taken into consideration in the gait design since the total gravity center of whole robot coincides always with the gravity center of the body only. Roughly speaking, however, motion of a weighty leg has serious i...

This paper is concerned with the passive walking of an underactuated biped robot. First, we present the modelling of the biped robot (that is a 7 DOF robot). Then, we focus on the study of the almost passive dynamic walking. In particular, we show that the application of a nonlinear feedback control to stabilize the torso and knees leads the biped robot to perform a stable almost-passive dynami...