Design of a quadruped walking machine for terrain adaptation

Debao Zhou, K. H. Low, Teresa Zielinska

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

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 languageEnglish (US)
Title of host publicationProceedings of the 1st Workshop on Robot Motion and Control, RoMoCo 1999
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages59-64
Number of pages6
ISBN (Electronic)0780356551, 9780780356559
DOIs
StatePublished - Jan 1 1999
Event1st Workshop on Robot Motion and Control, RoMoCo 1999 - Kiekrz, Poland
Duration: Jun 28 1999Jun 29 1999

Other

Other1st Workshop on Robot Motion and Control, RoMoCo 1999
CountryPoland
CityKiekrz
Period6/28/996/29/99

Fingerprint Dive into the research topics of 'Design of a quadruped walking machine for terrain adaptation'. Together they form a unique fingerprint.

Cite this