Architectures for a biomimetic hexapod robot

Kinematic Analysis of a Legged Walking Robot Based on Four-bar Linkage and Jansen Mechanism

“…불규칙한 지반 (irregular ground) 위에서 척추동물들은 선천적으로 타고 난 환경 적응 능력으로 민첩하게 움직일 수 있으므로 빠른 속도를 가지며, 운동 중 각각의 다리가 최소 시간에 선택된 최적의 점에 착지하므로 우수한 에너지 효율을 나타낸다 [5]. 지금까지 육지에서 걷는 다관절 형태의 로봇(multi-legged robots) 다리에 대하여 많은 연구가 있어 왔다 [6][7][8][9][10] 제안한 다관절 보행 로봇인 게 로봇의 다리 구조는 얀센 메커니즘(Jansen mechanism)과 4절 링크 이론(four-bar linkage mechanism)을 배경으로 한다 [14]. …”

Biologically Inspired Robots

“…Raibert & Hodgins (1993) have developed a single-legged robot that "walks" by hopping. Some robots are designed to reproduce the physical structure of the animal after which they are modeled (e.g., Delcomyn & Nelson, 2000;Nelson et al, 1999;Ayres & Witting, 2007; see Figure 2) but scaled up appropriately in size. The rationale for this attention to detail is that the physical structure of the animal (the differences in size, structure, and articulation with the body in the legs of cockroaches, for example) confers to it certain locomotor capabilities and that by emulating the animal's physical structure some of those capabilities will be conferred to the robot (Ritzmann et al, 2004).…”

“…In early robots, the actuator of choice was generally an electrical motor (e.g., Beer et al, 1997). Later robots have used pneumatics (Nelson & Delcomyn, 2000, Quinn et al, 2001) to drive the legs or artificial muscles such as McKibbon actuators. (Klute et al, 2002), electroactive polymers (Bar-Cohen, 2003), Nitinol wire with shape memory (Safak & Adams, 2002), and other devices.…”

Mobile Platform with Leg-Wheel Mechanism for Practical Use

“…1) Legged robots: These have excellent mobility with high stability. The mobility of legged robots has been extensively studied: for example, ASV (Song and Waldron 1989), the TITAN series (Hirose et al 1985), DANTE II (Bares and Wettergreen 1997), the hexapod robot (Delcomyn and Nelson 2000), Tekken2 (Kimura et al 2007), and Hyperion3 (Yoneda 2007). 2) Wheeled robots: These are most commonly selected for traversing continuous surfaces that include rough terrain.…”