Multilocomotion Robot: Novel Concept, Mechanism, and Control of Bio-inspired Robot

Fukuda, Toshio; Aoyama, Tadayoshi; Hasegawa, Yasuhisa; Sekiyama, Kosuke

doi:10.1007/978-1-84882-530-7_4

Cited by 17 publications

(9 citation statements)

References 33 publications

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“…We built and developed Gorilla Robot III as a prototype of Multi-Locomotion Robot [8]. Overview and link structure of Gorilla Robot III is shown in Fig.…”

Section: Gorilla Robot IIImentioning

confidence: 99%

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Locomotion Transition Scheme of Multi-Locomotion Robot

Aoyama¹,

Kobayashi²,

Lü³

et al. 2012

Injury and Skeletal Biomechanics

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“…We built and developed Gorilla Robot III as a prototype of Multi-Locomotion Robot [8]. Overview and link structure of Gorilla Robot III is shown in Fig.…”

Section: Gorilla Robot IIImentioning

confidence: 99%

“…On the other hand, we have proposed Multi-Locomotion Robot (MLR) that can perform several kinds of locomotion and has high mobility as shown in Fig. 1 [8]. By using MLR, we have realized independently biped and quadruped walking, brachiation, and climbing motion so far [9][10][11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

Locomotion Transition Scheme of Multi-Locomotion Robot

Aoyama¹,

Kobayashi²,

Lü³

et al. 2012

Injury and Skeletal Biomechanics

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“…These types of locomotion are realized with the cooperation of robot limbs. In our laboratory, Fukuda et al [4] have developed a 4 limbs "Multi-Locomotion Robot (MLR)" shown in Fig. 3.…”

Section: Introductionmentioning

confidence: 99%

Vertical ladder climbing down motion with internal stress adjustment for a multi-locomotion robot

Lü

Aoyama

Sekiyama

et al. 2011

2011 International Symposium on Micro-NanoMechatronics and Human Science

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Ahstract-This paper describes a ladder climbing down motion for a multi-locomotion robot (MLR). Since a closed kinematic chain is formed by robot links and the ladder in the ladder climbing down motion, if there exist redundant position con trolled joints, an internal stress would appear due to the position errors (in the environment or in the joint position, ... ). The internal stress has no contribution to equilibrate the robot load (weight and inertial force), however it produce greater torsional stress to the robot joint inside the closed chain. A control algorithm so that is proposed to adjust the internal stress. The primary contribution is in improving the working condition and minimizing the total squared torques of robot joints by reducing the additional internal stress. Since the pace gait is fast and flexible for robot climbing down the ladder, it is taken as an example to explain the proposed control method.

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“…Gorilla robot III have been developed as a prototype of the Multi-locomotion Robot; details are found in (Fukuda et al, 2009). Figure 2 shows the overview of Gorilla Robot III and its link structure.…”

Section: Multi-locomotion Robotmentioning

confidence: 99%

“…Inspired by these high mobility of an animal, we have developed an anthropoid-like "Multi-locomotion robot" that can perform several types of locomotion and choose the proper one depending on robot's needs ( Fig. 1, (Fukuda et al, 2009)). A development of a multi-locomotion robot which has plural locomotion types for high mobility is one of challenging issues, because a problem is remaining in addition to research issues on humanoid robot study.…”

Section: Introductionmentioning

confidence: 99%