Quadrupedal Walking Robot for Hazardouts Environment.

Abstract We present the vibration control of a self-standing quadrupedal walking robot with one-degree-of-freedom mechanisms, which are called YT-mechanisms. Our developed robot walks with trot gait, in which its weight is supported alternately by each pair of diagonally opposite legs. The experimental results show that the natural frequency of first-mode vibration changes with the rotational angle of the mechanisms. The movement of its feet’s position generates an imbalance force which creates the elastic displacement of legs and the vibration during walking. In order to reduce the vibration, we propose to use a dynamic absorber as a passive vibration control device and investigate the influence of its tuned frequency. Experimental results show the advantages of this method.

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Design and control of a pneumatic quadrupedal walking robot

2011 IEEE International Conference on Robotics and Automation ◽

10.1109/icra.2011.5979534 ◽

2011 ◽

Author(s):

Keith W. Wait ◽

Michael Goldfarb

Keyword(s):

Walking Robot ◽

And Control ◽

Quadrupedal Walking

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The design and control of a jointed-leg type of a quadrupedal robot for locomotion on irregular ground

Robotica ◽

10.1017/s0263574799001496 ◽

1999 ◽

Vol 17 (4) ◽

pp. 383-389 ◽

Cited By ~ 4

Author(s):

Yeh-Su Hong ◽

Hyoung-Ki Lee ◽

Soo-Yeong Yi ◽

Chong-Won Lee

Keyword(s):

Control Algorithm ◽

The Body ◽

Walking Robot ◽

Gait Control ◽

Body Attitude ◽

Working Principle ◽

Toe Angle ◽

Ground Profile ◽

And Control ◽

Quadrupedal Walking

In this paper, a study of a quadrupedal walking robot capable of walking on the irregular ground is presented. The robot has specially-designed feet with toes making soft and safe landings on uneven surfaces. Using the toe angle and landing force sensors integrated within the feet, its gait control algorithm can adapt the foot trajectory to the ground profile, while the body weight is evenly distributed on the supporting legs. After the landing of a foot, the roll and pitch angles of the body are measured and controlled to keep the body attitude parallel to the plane of support. The contents of this study are the design concept and working principle of the foot, including the gait control algorithm for walk on the irregular ground. Experimental results are reported.

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Walking Motion Learning of Quadrupedal Walking Robot by Profit Sharing That Can Learn Deterministic Policy for POMDPs Environments

Lecture Notes in Computer Science - Simulated Evolution and Learning ◽

10.1007/978-3-319-13563-2_28 ◽

2014 ◽

pp. 323-334

Author(s):

Yuya Morino ◽

Yuko Osana

Keyword(s):

Profit Sharing ◽

Walking Robot ◽

Motion Learning ◽

Walking Motion ◽

Quadrupedal Walking

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