Abstract
The design of a legged robot that can walk in various kinds of terrain is a focus on the development of walking machines. Beyond the full function for terrain adaptation, simplicity and modular are the objective of the mechanical design and the electrical design of this work The body shape of the proposed robot is rectangular and a simple 2-bar mechanism is proposed as the component of legs. There are 3 degrees of freedom in each leg. Based on the mechanical structure, the kinetic description including the direct and inverse kinematics is given. The walking sequence can then be achieved according to the kinematic analysis. Design of the robot is explained and the prototype of the robot is presented. Such a robot with its simple structure and full functions can be considered as a simple and cheap device dedicated to the exploration of unknown areas and the implement in the transportation, carriage, etc.
| Original language | English (US) |
|---|---|
| Title of host publication | Proceedings of the 1st Workshop on Robot Motion and Control, RoMoCo 1999 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 59-64 |
| Number of pages | 6 |
| ISBN (Electronic) | 0780356551, 9780780356559 |
| DOIs | |
| State | Published - Jan 1 1999 |
| Event | 1st Workshop on Robot Motion and Control, RoMoCo 1999 - Kiekrz, Poland Duration: Jun 28 1999 → Jun 29 1999 |
Other
| Other | 1st Workshop on Robot Motion and Control, RoMoCo 1999 |
|---|---|
| Country | Poland |
| City | Kiekrz |
| Period | 6/28/99 → 6/29/99 |