A New Quadruped Walking Robot with a Natural Level Trajectory

Authors: Chen, Chun-Ta; Lin, Chih-Jer; Zeng, Shi-Chang; Lin, Chorng-Tyan; Yang, Chun-Ming; Hong, Kuo-Kai

Source: Advanced Science Letters, Volume 14, Number 1, July 2012 , pp. 146-149(4)

Publisher: American Scientific Publishers

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Abstract:

In this paper the design of a quadruped walking robot with a level trajectory was first reported. The legs of the proposed quadruped robot, in which each leg is comprised of the coxa, femur, tibia and toe, and actuated by two sets of gear trains, are distinct from the jointed legs of conventional walking robots. Thereafter, the dynamic simulations were carried out to validate that the body can remain a level naturally while walking. To mimic quadruped animals, a central pattern generator (CPG) was used to generate the walking patterns. Finally, an embedded control system was employed to implement the locomotion control, and it was verified that the developed quadruped walking robot can work well.

Document Type: Research article

DOI: http://dx.doi.org/10.1166/asl.2012.3962

Publication date: 2012-07-01

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ADVANCED SCIENCE LETTERS is an international peer-reviewed journal with a very wide-ranging coverage, consolidates research activities in all areas of (1) Physical Sciences, (2) Biological Sciences, (3) Mathematical Sciences, (4) Engineering, (5) Computer and Information Sciences, and (6) Geosciences to publish original short communications, full research papers and timely brief (mini) reviews with authors photo and biography encompassing the basic and applied research and current developments in educational aspects of these scientific areas.
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