Construction of a quadruped with reduced degrees of freedom

Construction of a quadruped with reduced degrees of freedom
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降低自由度的四足动物的构造

DOI：
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发表时间：
2000
期刊：
2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies
影响因子：
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通讯作者：
S. Hirose
S. Hirose
中科院分区：
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文献类型：
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作者：
K. Yoneda;Y. Ota;F. Ito;S. Hirose

文献摘要

被引文献

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一般来说，四足动物每条腿有3个自由度，总共有12个自由度。因此，驱动腿和控制系统的机构变得非常沉重。本文介绍了一种新的四足四自由度机器人的设计。首先说明了自由度的排列和行走运动的原理。然后用力学模型进行了验证。
In general a quadruped has 3 degrees of freedom for each leg, for a total of 12 degrees of freedom. Therefore the mechanism for actuating the leg and control system becomes extremely heavy. This paper describes a new design of a quadruped with 4 degrees of freedom. Arrangement of the degrees of freedom and the principle of walking motion are first explained. Then, verification by a mechanical model is described.