IROS 2015 Paper Abstract


Paper ThCT9.6

Oki, Kentaro (Osaka University), Ishikawa, Masato (Osaka University), Li, Yu (Dept. of Mechanical Engineering, Osaka Univ.), Yasutani, Naoto (Osaka University), Osuka, Koichi (Osaka University)

Tripedal Walking Robot with Fixed Coxa Driven by Radially Stretchable Legs

Scheduled for presentation during the Regular session "Legged Robots 2" (ThCT9), Thursday, October 1, 2015, 12:35−12:50, Saal B2

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Legged Robots, Motion Control


In this paper, we propose a new kind of "tripedal" locomotion--namely, robotic walking with three legs. We develop a prototype robot, which we call the Martian III, having three stretchable legs fixed to each other at the center of the body. Therefore the coxa (the hip joint) is completely fixed in this robot, and the only control we have are the linear actuators to stretch the three legs in the radial directions. The robot is developed as a minimal model to examine our basic idea, to make the robot swing by actuating the legs and then generate locomotion utilizing geometric effect of rigid body rolling in contact with the flat floor. The experiments with robot succeeds in forwarding and rotation locomotion with appropriate choices of oscillatory along each leg. Further analysis of the movement of the robot indicates that the direction of the swing leg depends on the deformation of each leg. Moreover, due to the result of the measurement experiment and movement analysis of rotation locomotion, we found out two typical type of gaits.



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