The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2020
Session ID : 2P2-H19
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Leg Design of Quadruped Robot Using a 3-DOF Closed Link Mechanism
Kohei KAWANOKiyotaka IZUMITakeshi TSUJIMURA
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Abstract

A three-degree-of-freedom leg using a closed link mechanism was designed to reduce the weight of the leg. This mechanism was verified by dynamics simulator (GAZEBO) of a quadruped robot with the designed legs. In simulations, we achived with two gaits which are clawl gait and trot gait.

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© 2020 The Japan Society of Mechanical Engineers
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