An omni-directional six-legged walking robot
| Autor: | Haruo Hoshino, Toshio Fukuda, Fumihito Arai, Yuji Adachi, Matsunaga Isao |
|---|---|
| Rok vydání: | 1994 |
| Předmět: |
Engineering
business.industry Frame (networking) Robotics Linear actuator Computer Science Applications Computer Science::Robotics Human-Computer Interaction Mechanism (engineering) Hardware and Architecture Control and Systems Engineering Position (vector) Control system Robot Artificial intelligence business Actuator Software Simulation |
| Zdroj: | Advanced Robotics. 9:177-191 |
| ISSN: | 1568-5535 0169-1864 |
| DOI: | 10.1163/156855395x00076 |
| Popis: | This paper describes an omni-directional walking robot, which has six legs and can move in any direction. The mechanism consists of a parallel link mechanism connecting the two frames with three linear actuators. Legs are attached to each frame. The relative position and angle of the two frames are selected arbitrarily in accordance with the length of three actuators. The walking mechanism is composed by combining them with extendable legs. The mechanism and control method of this robot are presented. Walking and inclination experiments were performed with an experimental prototype model, and desired movement is attained. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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