Few D.O.F. walking robot with outer-wheels

Riichiro Tadakuma, Kenjiro Tadakuma, Robert D. Howe

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

Abstract

This paper describes the design and prototype testing of a few D.O.F. walking robot. This new design has hybrid wheeled-legged mechanism composed of an outer frame with novel omni-directional wheels, "Omni-Balls", and inner legs that provide thrust. Compared to previous hybrid designs, this walking robot has high stability on rough terrain because the wheels are located outside of the legs. In addition, the design permits the use of simplified leg designs with only one or two actuated degrees of freedom. We present performance results from prototype tests and consider implications for enhanced designs.

Original languageEnglish
Title of host publicationProceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007
Pages1117-1124
Number of pages8
DOIs
Publication statusPublished - 2007 Dec 1
Externally publishedYes
Event3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007 - Scottsdale, AZ, United States
Duration: 2007 Sep 222007 Sep 25

Publication series

NameProceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007

Other

Other3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007
CountryUnited States
CityScottsdale, AZ
Period07/9/2207/9/25

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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