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
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 ). We discuss Tekken3&4 mechanical design concepts and simple navigation control for long-term walking along a wall at the exhibition.
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