This paper describes a walking method and inclination control experiments of the new omni-directional walking robot, which has six legs and can move in any direction. The mechanism consists of a parallel link mechanism connecting the two frames with three linear actuators. Legs are attached to each flame. The relative position and angle of the two frame are selected arbitrarily in accordance with the length of three actuators, and the posture of it's upper surface are changed with extendable legs. Walking mechanism is composed by combining the two functions. Mechanism and control method of this robot are presented in this paper.
|Number of pages||6|
|Journal||Proceedings - IEEE International Conference on Robotics and Automation|
|Publication status||Published - 1995 Jan 1|
|Event||Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn|
Duration: 1995 May 21 → 1995 May 27
ASJC Scopus subject areas
- Control and Systems Engineering