JRM Vol.4 No.6 pp. 480-489
doi: 10.20965/jrm.1992.p0480


Dynamic Walking Control of the One-Legged Robot with Controlling Rotor

Kazuo Yamafuji, Yoshihito Takemura* and Hiroshi Fujimoto

Member of Electrical Communication University, 1-5-1, Chofugaoka, Chofu, Tokyo 182, Japan

* Japan Ject, 13-33, Kobushi-cho, Tokorozawa, Saitama 359, Japan

July 23, 1992
August 20, 1992
December 20, 1992
Robotics, Computer control, One-legged jigging robot, Stilts-walking, Dynamic walking, Controlling rotor
This paper deals with the newly developed 'O-jiro (Onelegged ,jigging robot)' which realizes stilts-walking. The impact of stepping by two legs disturbs the balance of the body, so this robot has a vertical arc-shaped plate for its leg. A single motor swings the leg cyclically, so the supporting point moves from side to side like steps of stilts-walking. At the same time, another motor drives a rotor mounted on the top of the body to turn the lifted leg toward the direction in which the body leans (forward or backward), so the O jiro can remain stable. He can thus realize stable stilts-walking, with a simple mechanism and only two actuators. As a results of experiments, it has been confirmed that he can remain stable standing and that this mechanism is useful as a locomotive robot.
Cite this article as:
K. Yamafuji, Y. Takemura, and H. Fujimoto, “Dynamic Walking Control of the One-Legged Robot with Controlling Rotor,” J. Robot. Mechatron., Vol.4 No.6, pp. 480-489, 1992.
Data files:

Creative Commons License  This article is published under a Creative Commons Attribution 4.0 International License.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Jul. 12, 2024