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JRM Vol.29 No.3 pp. 528-535
doi: 10.20965/jrm.2017.p0528
(2017)

Paper:

Simplified Triped Robot for Analysis of Three-Dimensional Gait Generation

Yoichi Masuda and Masato Ishikawa

Graduate School of Engineering, Osaka University
2-1 Yamadaoka, Suita, Osaka 565-0871, Japan

Received:
January 19, 2017
Accepted:
February 27, 2017
Published:
June 20, 2017
Keywords:
legged locomotion, tripedal walking robot, compliant legs, gait generation, distributed control
Abstract

Simplified Triped Robot for Analysis of Three-Dimensional Gait Generation

The tripedal robot “Martian petit”

Significant efforts to simplify the body structure of multi-legged walking robots have been made over the years. Of these, the Spring-Loaded-Inverted-Pendulum (SLIP) model has been very popular, therefore widely employed in the design of walking robots. In this paper, we develop a SLIP-based tripedal walking robot with a focus on the geometric symmetry of the body structure. The proposed robot possesses a compact, light-weight, and compliant leg modules. These modules are controlled by a distributed control law that consists of decoupled oscillators with only local force feedback. As demonstrated through experiments, the simplified design of the robot makes possible the generation of high-speed dynamic locomotion. Despite the structural simplicity of the proposed model, the generation of several gait-patterns is demonstrated. The proposed minimalistic design approach with radial symmetry simplifies the function of each limb in the three-dimensional gait generation of the robot.

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Last updated on Sep. 19, 2017