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In order to improve further the maximal mobility of a mobile robot with multiple legged-locomotion modes, we present the new concept of humanoid and gorilla robot with multiple models including wheeled-locomotion and legged-locomotion. In this paper, a wheeled-driving mechanism, which suits the legged-type locomotion robot, is proposed and developed. It can realize the transition between legged-locomotion...
The walking modes shifting of a gorilla robot is a kind of movements between biped standing state and quadruped landing state. In this paper, the robot mechanism is reduced to a 3-D.O.F inverted pendulum model with variable pendulum length, and the variable ZMP is defined reasonably as a function related to the inverted pendulum angle. Base on dynamic balance theory, the trajectory equation of robot's...
Aim at solving the main problems of complexity and mechanism rigidity in the design and development of gorilla robot system, the modular combinational design method is introduced to the design of gorilla robot. Based on series joint unit with high rigidity and large output, a modular combinational gorilla robot is designed. The opening control system of the gorilla robot is composed of RS485 and intelligent...
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