Development of lightweight sprawling-type quadruped robot TITAN-XIII and its dynamic walking
Development of lightweight sprawling-type quadruped robot TITAN-XIII and its dynamic walking
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DOI：
10.1109/iros.2013.6697231
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发表时间：
2013-11
期刊：
影响因子：
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通讯作者：
S. Kitano;S. Hirose;G. Endo;E. F. Fukushima
中科院分区：
文献类型：
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作者：
S. Kitano;S. Hirose;G. Endo;E. F. Fukushima
本文讨论了四足机器人TITAN-XIII的研制及其动态行走算法。研制了一种专门用于动态行走的实验性四足机器人。与像狗一样的机器人不同，原型机器人看起来像一只四条腿的蜘蛛。作为一个实验机器人，我们关注三个基本概念：轻量化，运动范围广，易于维护。为了实现这些目标，我们引入了一种使用合成纤维将动力传输到每个轴的线驱动机构。利用这种线驱动机构，我们可以将马达定位在腿的底部，从而减少其惯性。此外，机器人的各个部分是统一的，可以很容易地拆卸。作为一种动态行走算法，我们提出了“纵向加速轨迹”。将此轨迹应用于间歇小跑步态。用所研制的机器人对算法进行了测试，并通过实验验证了算法的性能。
In this paper, we discuss the development of the sprawling-type quadruped robot named “TITAN-XIII” and its dynamic walking algorithm. We develop an experimental quadruped robot especially designed for dynamic walking. Unlike dog-like robots, the prototype robot looks like a four-legged spider. As an experimental robot, we focus on the three basic concepts: lightweight, wide range of motion and ease of maintenance. To achieve these goals, we introduce a wire-driven mechanism using a synthetic fiber to transmit power to each axis making use of this wire-driven mechanism, we can locate the motors at the base of the leg, reducing, consequently, its inertia. Additionally, each part of the robot is unitized, and can be easily disassembled. As a dynamic walking algorithm, we proposed what we call “longitudinal acceleration trajectory”. This trajectory was applied to intermittent trot gait. The algorithm was tested with the developed robot, and its performance was confirmed through experiments.