1A1-G07 Mechanism and Gait of Tripedal Walking Robot with Sliding Legs

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  • 1A1-G07 スライド脚を持つ三脚ロボットの構造と歩容

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Novel design of three-legged walking robot with sliding legs and its ideal gait are proposed. The robot has 7 degrees of freedom: 4 active joints and 3 passive joints. Its mechanism is considered for to develop a high-efficiency tripedal gait with passive movement which utilizes the gravity. Computer simulation with ODE (Open Dynamics Engine) is performed to determine the structure of the robot and to investigate its ideal gait. Several parameters are optimized through the simulation based on the criterion for a stable gait. The result shows that the stable tripedal gait is able to be achieved with the proposed mechanism of the robot. An experimental machine is also introduced.

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