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JRM Vol.22 No.1 pp. 36-42
doi: 10.20965/jrm.2010.p0036
(2010)

Paper:

Dynamic Locomotion of Quadrupeds Tekken3&4 Using Simple Navigation

Yasuhiro Fukuoka*, Hiroki Katabuchi**, and Hiroshi Kimura***

*Department of Intelligent Engineering, College of Engineering, Ibaraki University 4-12-1 Nakanarusawa-cho, Hitachi, Ibaraki 316-8511, Japan

**Automotive Systems Group, Hitachi, Ltd., 1671-1 Kasukawa-cho, Isezaki, Gunma 372-0023, Japan

***Division of Mechanical and System Engineering, Graduate School of Science and Technology, Kyoto Institute of Technology Matsugasaki-Goshokaido-cho, Sakyo-ku, Kyoto 606-8585, Japan

Received:
August 2, 2008
Accepted:
July 23, 2009
Published:
February 20, 2010
Keywords:
quadruped robot, central pattern generator (CPG), dynamic walking, navigation
Abstract

We developed self-contained quadruped robots Tekken3 and Tekken4, which walk dynamically and stably for a long time changing direction through simple navigation. Using new equipment with a laser range finder for the navigation, Tekken3&4 walked naturally along a wall using simple control, walked longer than earlier quadrupeds Tekken1&2. Tekken4 conducted 33 walking demonstrations during 11 days at the 2005 Aichi Exposition in Japan (view at [1]). We discuss Tekken3&4 mechanical design concepts and simple navigation control for long-term walking along a wall at the exhibition.

Cite this article as:
Y. Fukuoka, H. Katabuchi, and H. Kimura, “Dynamic Locomotion of Quadrupeds Tekken3&4 Using Simple Navigation,” J. Robot. Mechatron., Vol.22, No.1, pp. 36-42, 2010.
Data files:
References
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