Design and development of the quadrupedal research platform JROB-2

Atsushi Konno, Noriyoshi Kato, Yusuke Mitsuya, Masaru Uchiyama

    Research output: Contribution to journalConference article

    6 Citations (Scopus)

    Abstract

    In order to meet the demand for a research platform of intelligent robotics, a quadrupedal research platform JROB-2 has been developed. This paper presents the design and development of the quadrupedal walking robot JROB-2. The JROB-2 consists of five parts: quadrupedal walking mechanism, an embedded PC, servo amplifiers, power supplies, and a high speed stereo camera head. The stereo camera head can track the sinusoidal joint trajectory of the 15 ['] amplitude and about 30 [Hz] frequency. The performance of the developed camera head is high enough to imitate the human eye movement such as saccade and pursuit. Almost all components of the JROB-2 are commercially available, and thus, its developing cost is reduced and its maintenance becomes much easier. It is expected that the JROB-2 will serve as a good research platform for the studies of robotics and artificial intelligence.

    Original languageEnglish
    Pages (from-to)1056-1061
    Number of pages6
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Volume1
    Publication statusPublished - 2002 Jan 1
    Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
    Duration: 2002 May 112002 May 15

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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