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We propose track-changeable quadruped walking robot, named “TITAN X”. TITAN X is a new leg-track hybrid mobile robot with a special leg driving system on each leg. A belt on each leg changes to a timing-belt in leg form and a track-belt in track form. TITAN X walks in leg form on rough terrain and makes tracked locomotion using track-belt on level or comparatively low-rough terrain. The characteristics...
This paper proposes a control algorithm for continuous high-speed stair climbing for an eight-legged stair-climbing vehicle, and discusses a new leg mechanism to implement this control. The control algorithm was first simulated to verify its effectiveness, and then implemented with a vehicle prototype, which continuously climbed a set of steps at constant speed under an applied load of 30 kg. A belt-drive...
In this article, the design principle of the leg driving mechanism to minimize energy loss and maximize output power is discussed. We will also introduce the gait control methods implemented in our previous quadruped walking robots. Finally, we will survey most of the prototype models of our quadruped walking robots.
Roller-walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tip of each leg. The passive wheel can be transformed into sole mode by rotating ankle roll joints when roller-walker walks on rough terrain. This paper describes adaptation of characteristics of the propulsion by a leg trajectory in the case of wheeled locomotion. Firstly, the authors demonstrate that Roller-Walker...
This paper proposes a new leg-wheel hybrid jumping robot ldquoAirHopperrdquo. AirHopper is expected to overcome uneven terrain, which is difficult to move around for ordinary vehicles which carry supplies for disaster areas or isolated districts. To acquire high mobility and jumping, AirHopper consists of the following mechanisms. 1) 4 legs that are widely spread like a spider for stability, 2) active...
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