Posture control of 6-leg walking robot

Toshio Fukuda, Yuji Adachi, Haruo Hoshino, Kazuhiro Kosuge, Isao Matsunaga, Fumihito Arai

Research output: Contribution to journalConference articlepeer-review

8 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)1006-1011
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
Publication statusPublished - 1995 Jan 1
Externally publishedYes
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: 1995 May 211995 May 27

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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