An omnidirectional dual tripod walking machine: mechanical structure and control

Wang, J.S.; Ru, Sun; Zhang, B.P.; Guo, Ge; Gruver, W.A.

doi:10.1109/icsmc.1993.390882

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“…al. [13] requires four motors to provide the same gait as the Delta Walker which uses only three. The Delta Walker can also carry a load, and that is the subject of this paper.…”

Section: Introductionmentioning

confidence: 99%

Foot Design for a Large Walking Delta Robot

Dunlop

Springer Tracts in Advanced Robotics

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Abstract.A large Delta robot has been modified to pick up and place a triangular shaped foot. The robot pushes the foot down to lift the body and the three associated fixed support legs. It then moves the foot sideways so that the body moves in the opposite direction to a new position where the fixed legs are lowered to the ground and the foot lifted ready for a new placement. In this way the robot is able to move in any direction with a tripod gait. The use of a combined foot and gripper for moving heavy objects is investigated. In the implementation reported, the gearboxes used are found to limit the operation and spring assistance is investigated as a trade off with payload. The small prototype, stands as tall as a person, weighs a third of a ton, and has a payload capability of near 100%. It is envisaged as a prototype for a much larger walking robot capable of general-purpose heavy lifting.

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“…al. [13] requires four motors to provide the same gait as the Delta Walker which uses only three. The Delta Walker can also carry a load, and that is the subject of this paper.…”

Section: Introductionmentioning

confidence: 99%

Foot Design for a Large Walking Delta Robot

Dunlop

Springer Tracts in Advanced Robotics

View full text Add to dashboard Cite

show abstract

An omnidirectional dual tripod walking machine: mechanical structure and control

Cited by 1 publication

References 15 publications

Foot Design for a Large Walking Delta Robot

Foot Design for a Large Walking Delta Robot

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