Quadruped walking robots at Tokyo Institute of Technology

Hirose, Shigeo; Fukuda, Yasushi; Yoneda, Kan; Nagakubo, Akihiko; Tsukagoshi, Hideyuki; Arikawa, Keisuke; Endo, Gen; Doi, Takahiro; Hodoshima, Ryuichi

doi:10.1109/mra.2009.932524

Cited by 69 publications

(32 citation statements)

References 15 publications

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“…To try to exploit the potential of legged locomotion a number of solutions have been developed for robots of varying size, powered by diverse energy sources. Among these, notable examples include Fujita and Kitano (1998); Berns et al (1998); Canderle and Caldwell (2000); Nichol et al (2004); Poulakakis et al (2005); Buehler et al (2005); Zhang et al (2005); Kimura et al (2007); Raibert et al (2008); Hirose et al (2009);Semini et al (2011). Quadrupedal locomotion presents good intrinsic stability features, but the coordination of the motion of four legs is non-trivial to control.…”

Section: Introductionmentioning

confidence: 99%

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

et al. 2013

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This manuscript proposes a method to directly transfer the features of horse walking, trotting, and galloping to a quadruped robot, with the aim of creating a much more natural (horse-like) locomotion profile. A Principal Component Analysis (PCA) on horse joint trajectories shows that walk, trot, and gallop can be described by a set of four kinematic Motion Primitives (kMPs). These kMPs are used to generate valid, stable gaits that are tested on a compliant quadruped robot. Tests on the effects of gait frequency scaling follow: results indicate a speed-optimal walking frequency around 3.4 Hz, and an optimal trotting frequency around 4 Hz. Following, a criterion to synthesize gait transitions is proposed, and the walk/trot transitions are successfully tested on the robot. The performance of the robot when the transitions are scaled in frequency is evaluated by means of roll and pitch angle phase plots.

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Section: Introductionmentioning

confidence: 99%

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

et al. 2013

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“…This paper is to design a humanoid robot gait visual effects, and therefore the focus placed on the robot limb design [11][12][13]. Due to the complexity of the human skeleton and muscles, we cannot put all of the lower extremities of human freedom which are configured to the robot, so not only are technically considerable difficulty, but also in the control will be a great complexity, as This article draws on joint degrees of freedom to determine the allocation of domestic and international distribution and structure type freedom humanoid robot.…”

Section: Freedom Of Distributionmentioning

confidence: 99%

Research on Optimization Walking Robot Gait Planning Based on Human Bionics

Sun¹

2016

IJMUE

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“…Titan X, developed by the HiroseFukushima Robotics Lab (Fig. 9b), is a quadruped mobile robot with three degrees of freedom per leg; the four belts have a double function: mechanical transmission for actuation of the knee joints during legged locomotion, and tracks during tracked locomotion (Hirose et al, 2009). Another example of a leg-track hybrid robot is the one developed by a research group led by Yokota et al (2006).…”

Section: Leg-track Hybrid Locomotion Systemsmentioning

confidence: 99%

“…9. Leg-track hybrid robots: iRobot SUGV (a, http://www.irobot.com/gi/ground/) 5 and Titan X (b, Hirose et al, 2009). Fig.…”

Section: Leg-wheel-track Hybrid Locomotion Systemsmentioning

confidence: 99%

Review article: locomotion systems for ground mobile robots in unstructured environments

2012

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Abstract. The world market of mobile robotics is expected to increase substantially in the next 20 yr, surpassing the market of industrial robotics in terms of units and sales. Important fields of application are homeland security, surveillance, demining, reconnaissance in dangerous situations, and agriculture. The design of the locomotion systems of mobile robots for unstructured environments is generally complex, particularly when they are required to move on uneven or soft terrains, or to climb obstacles. This paper sets out to analyse the state-of-the-art of locomotion mechanisms for ground mobile robots, focussing on solutions for unstructured environments, in order to help designers to select the optimal solution for specific operating requirements. The three main categories of locomotion systems (wheeled – W, tracked – T and legged – L) and the four hybrid categories that can be derived by combining these main locomotion systems are discussed with reference to maximum speed, obstacle-crossing capability, step/stair climbing capability, slope climbing capability, walking capability on soft terrains, walking capability on uneven terrains, energy efficiency, mechanical complexity, control complexity and technology readiness. The current and future trends of mobile robotics are also outlined.

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Quadruped walking robots at Tokyo Institute of Technology

Cited by 69 publications

References 15 publications

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

Research on Optimization Walking Robot Gait Planning Based on Human Bionics

Review article: locomotion systems for ground mobile robots in unstructured environments

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