1989 Volume 55 Issue 518 Pages 2575-2582
It is generally recognized that cursorial animals possess off-road mobility characteristics far superior to those of conventional wheeled or tracked vehicles. In this paper, a control method for speedy quadruped which is based on free movement in a gravity field and saves energy. In the supporting phase, the waist joints are under an open-loop control which consists of two control modes: 1) a free rotation mode and 2) a constant voltage mode. The stability of the proposed method is examined by numerical analysis. The walking robot"COLT-1"is able to achieve average speed of 0.5 m/s by using this control method.
Transactions of the Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers Series A
Transactions of the Japan Society of Mechanical Engineers Series B
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series B
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A
