Basic Design and Synchronized Motion Control for  Hexapod Walking Machine

Katsuhiko Inagaki; Hisato Kobayashi

doi:10.20965/jrm.1993.p0511

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JRM Vol.5 No.6 pp. 511-515

doi: 10.20965/jrm.1993.p0511

(1993)

Paper:

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Basic Design and Synchronized Motion Control for Hexapod Walking Machine

Katsuhiko Inagaki and Hisato Kobayashi

Department of Electrical Engineering., Hosei University, 3-7-2 Kajino-cho, Koganei, Tokyo, 184 Japan

Received:

September 20, 1993

Accepted:

September 30, 1993

Published:

December 20, 1993

Keywords:

Walking machine, Electromagnetic clutch, Synchronized motion control, Autonomous distributed control

Abstract

This paper discusses a new mechanism and a new method of motion control for a multi-legged walking machine. The new mechanism provides high energy efficiency which is one of the most important points of walking machines. This problem is solved combining a gasoline engine and an electromagnetic clutch system. In addition, synchronized motion control is also proposed for this mechanism. This control is based on the notion of an autonomous distributed control. Thus, this system has sufficient flexibility and reliability.

Cite this article as:

K. Inagaki and H. Kobayashi, “Basic Design and Synchronized Motion Control for Hexapod Walking Machine,” J. Robot. Mechatron., Vol.5, No.6, pp. 511-515, 1993.

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