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A Quadruped Robot Walking and Running with One Mechanism(Mechanical Systems)

2009; Japan Society Mechanical Engineers; Volume: 75; Issue: 750 Linguagem: Inglês

10.1299/kikaic.75.390

0387-5024

Yasuhiro Fukuoka, Hiroshi Kimura,

Robot Manipulation and Learning

Many quadruped walking robots and running robots have been so far developed, but it is very difficult for a robot with fixed mechanism to walk and run. Our quadruped robot 'Tekken' has been able to walk dynamically by walking and trotting gait. It has a local virtual spring-damper system of which we can adjust the parameters of the stiffness. By enhancing the parameter of the system further, we succeeded in making the same mechanism robot run as well as walk. In this paper, we show the experimental result of bouncing with Tekken.