Motion control of lizard-type quadruped

-Camera mounting mechanism compensating for shaking caused by bending movement-

Abstract

In this study, we focused on the walking gait of the lizard, and try to develop quadruped with simple mechanism and a few actuators. An image sensor is equipped to the robot for environmental recognition. To compensate shaking motion caused by bending motion, a camera mounting mechanism is developed and the validity of the developed system is investigated through of object tracking experiments.