Light Weight Quadruped with Nine Actuators

Kan Yoneda

doi:10.20965/jrm.2007.p0160

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JRM Vol.19 No.2 pp. 160-165

doi: 10.20965/jrm.2007.p0160

(2007)

Paper:

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Light Weight Quadruped with Nine Actuators

Kan Yoneda

Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino-shi, Chiba 275-0016, Japan

Received:

October 12, 2006

Accepted:

January 18, 2007

Published:

April 20, 2007

Keywords:

quadruped, degrees of freedom, dynamic walking

Abstract

Quadruped robots, which tend to be heavy can be made lighter by carefully considering the number of actuators and required power. This paper discusses the relationship of the moving functions of quadruped locomotion and the required number of actuators. Using fewer actuators than conventionally need not prevent the quadruped robot from satisfactory locomotion. At the same time, energy saving brings a lighter design, because required actuators and batteries are smaller. This paper discusses several techniques to reduce energy consumption. Combining these discussions, examples of 3-, 5-, and 9-actuator quadrupeds are designed, and experimentally performed good locomotion.

Cite this article as:

K. Yoneda, “Light Weight Quadruped with Nine Actuators,” J. Robot. Mechatron., Vol.19 No.2, pp. 160-165, 2007.

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References

[1] M. Kaneko, M. Abe, and S. Tachi, “Basic consideration on Degree of Freedom of Multi-legged Locomotion Machines,” J. Robotics Soc. Japan, Vol.2, No.2, pp. 58-66, 1984 (in Japanese).
[2] S. Hirose, “A Study of Design and Control of a Quadruped Walking Vehicle,” Int. J. Robotics Research, Vol.3, No.2, pp. 113-133, 1984.
[3] S. Hirose and M. Sato, “Coupled Drive of the Multi-DOF Robot,” Proc. ICRA, Arizona, pp. 1610-1616, 1989.
[4] E. Garcia, J. Galvez, and G. de Santos, “A mathematical model for real-time control of the SILO4 leg,” Proc. 3rd Int. Conf. CLAWAR, Madrid, Spain, pp. 447-460, 2000.
[5] D. Wettergreen, C. Thorpe, and R. Whittaker, “Exploring mount Erebus by a walking robot,” Proc. of the International Conference on Intelligent Autonomous Systems, pp. 72-81, 1993.
[6] K. Yoneda and S. Hirose, “Dynamic and Static Fusion Gait of a Quadruped Walking Vehicle on a Winding Path,” Advanced Robotics, Vol.9, No.2, pp. 125-136, 1995.
[7] H. Kimura, I. Shimoyama, and H. Miura, “Dynamics in the Dynamic Walk of a Quadruped Robot,” Advanced Robotics, Vol.4, No.3, pp. 283-301, 1990.
[8] K. Yoneda and Y. Ota, “Non-bio-mimetic Walkers,” Int. J. of Robotics Research, Vol.22, No.3, pp. 241-250, 2003.
[9] K. Yoneda, Y. Ota, F. Ito, and S. Hirose, “Quadruped Walking Robot with Reduced Degrees of Freedom,” J. of Robotics and Mechatronics, Vol.13, No.2, pp. 190-197, 2001.
[10] K. Yoneda and T. Kuga, “Quadruped Robot with Reduced Number of Actuators,” J. Robotics Soc. Japan, Vol.22, No.7, pp. 101-107, 2004 (in Japanese).

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] M. Kaneko, M. Abe, and S. Tachi, “Basic consideration on Degree of Freedom of Multi-legged Locomotion Machines,” J. Robotics Soc. Japan, Vol.2, No.2, pp. 58-66, 1984 (in Japanese).

[2] [2] S. Hirose, “A Study of Design and Control of a Quadruped Walking Vehicle,” Int. J. Robotics Research, Vol.3, No.2, pp. 113-133, 1984.

[3] [3] S. Hirose and M. Sato, “Coupled Drive of the Multi-DOF Robot,” Proc. ICRA, Arizona, pp. 1610-1616, 1989.

[4] [4] E. Garcia, J. Galvez, and G. de Santos, “A mathematical model for real-time control of the SILO4 leg,” Proc. 3rd Int. Conf. CLAWAR, Madrid, Spain, pp. 447-460, 2000.

[5] [5] D. Wettergreen, C. Thorpe, and R. Whittaker, “Exploring mount Erebus by a walking robot,” Proc. of the International Conference on Intelligent Autonomous Systems, pp. 72-81, 1993.

[6] [6] K. Yoneda and S. Hirose, “Dynamic and Static Fusion Gait of a Quadruped Walking Vehicle on a Winding Path,” Advanced Robotics, Vol.9, No.2, pp. 125-136, 1995.

[7] [7] H. Kimura, I. Shimoyama, and H. Miura, “Dynamics in the Dynamic Walk of a Quadruped Robot,” Advanced Robotics, Vol.4, No.3, pp. 283-301, 1990.

[8] [8] K. Yoneda and Y. Ota, “Non-bio-mimetic Walkers,” Int. J. of Robotics Research, Vol.22, No.3, pp. 241-250, 2003.

[9] [9] K. Yoneda, Y. Ota, F. Ito, and S. Hirose, “Quadruped Walking Robot with Reduced Degrees of Freedom,” J. of Robotics and Mechatronics, Vol.13, No.2, pp. 190-197, 2001.

[10] [10] K. Yoneda and T. Kuga, “Quadruped Robot with Reduced Number of Actuators,” J. Robotics Soc. Japan, Vol.22, No.7, pp. 101-107, 2004 (in Japanese).