Control of a Tripedal Robot Walking with a Shuffle

Abstract

This paper describes a control method for a tripedal robot, which walks with a shufffle. The robot consists of three electromagnets and three piezoelectric elemens. The electromagnet supports the robot as a leg. Two ouf of three electromagnets adheres to an magnetic floor and the other electromagnet moves by the deformation of the piezos. The relation between the control waveforms and the robot motion is described theoretically. The theoretical displacement of the robot is calculated. The piezo deformations which move the robot to the destination are obtained. The control waveform is determined by the piezo deformations.