Abstract
This paper discusses the possibility to realize both of walking and running at a single robot, which is made by the combination mechanism of linkages and actuators. This linkage mechanism have actuators below the number of joint, therefore it enables to reduce the weight of the robot. This study aims at realizing the 4-legged locomotion by controlling the phase to manipulate the legs made by linkage mechanism. This paper firstly shows the similarity of walking and running of 4-legged animal, and proposes the way of realizing the both actions by the change of phase of motion. In order to design the leg mechanism with effective linkage systems, the kinematics simulator was developed and the performance of the prototype was tested.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
K. Kato and S. Hirose, “Development of Quadruped Walking Robot, TITAN-IX-Mechanical Design Concept and Application for the Humanitarian Demining Robot-” Advanced Robotics, 15,2, pp.191–204 (2001)
H, Kimura and Y, Fukuoka, “Biologically Inspired Adaptive Dynamic Walking in Outdoor Environment Using a Self-contained Quadruped Robot: ‘Tekken2’”, IROS, 2004.
K. Kadomae, Y. okuyama, K. Shibuya, K. Tsutsumi, T. Iwamoto “Realization of Trot Gait by Bio-Mimetic 4-legged Running Robot Ryuma equipped with Torsion Coil Springs in the Leg Joints” ROBOMEC, June 2005
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Morita, K., Ishihara, H. (2006). Proposal of 4-leg Locomotion by Phase Change. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_62
Download citation
DOI: https://doi.org/10.1007/3-540-26415-9_62
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26413-2
Online ISBN: 978-3-540-26415-6
eBook Packages: EngineeringEngineering (R0)