Development of Multi-Legged Walking Robot Using Reconfigurable Modular Design and Biomimetic Control Architecture

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概要

• 論文の詳細を見る

• This paper focuses on the design of a modular multi-legged walking robot MiniQuad-I, which can be reconfigured into variety configurations, including quadruped and hexapod configurations for different tasks by changing the layout of modules. Critical design considerations when taking the adaptability, maintainability and extensibility in count simultaneously are discussed and then detailed designs of each module are presented. The biomimetic control architecture of MiniQuad-I is proposed, which can improve the capability of agility and independence of the robot. Simulations and experiments on crawling, object picking and obstacle avoiding are performed to verify functions of the MiniQuad-I.

• 一般社団法人 日本機械学会の論文

著者

• Chen Xuedong

  State Key Laboratory Of Digital Manufacturing Equipment And Technology Huazhong University Of Scienc

• Jia Wenchuan

  State Key Laboratory Of Digital Manufacturing Equipment And Technology Huazhong University Of Scienc

• Huang Qingjiu

  Department Of Mechanical And Control Engineering Tokyo Institute Of Technology

• SUN Yi

  State Key Laboratory of Digital Manufacturing Equipment & Technology, Huazhong University of Science and Technology

• PU Huayan

  State Key Laboratory of Digital Manufacturing Equipment & Technology, Huazhong University of Science and Technology

• CHEN Xuedong

  State Key Laboratory of Digital Manufacturing Equipment & Technology Huazhong University of Science and Technology

• CHEN Xuedong

  State Key Laboratory of Digital Manufacturing Equipment & Technology, Huazhong University of Science and Technology

• JIA Wenchuan

  State Key Laboratory of Digital Manufacturing Equipment & Technology, Huazhong University of Science and Technology

関連論文

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• Development of Multi-Legged Walking Robot Using Reconfigurable Modular Design and Biomimetic Control Architecture
• Optimal Trajectory Planning Method Using Inequality State Constraint for a Biped Walking Robot with Upper Body Mass
• Mechanism Design and Gait Experiment of an Amphibian Robotic Turtle

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