Development of biomimetic quadruped walking robot with 2-DOF waist joint

Kyoung-Ho Kim; Se-Hoon Park; Yun-Jung Lee

doi:10.1117/12.664706

2 May 2006 Development of biomimetic quadruped walking robot with 2-DOF waist joint

Kyoung-Ho Kim, Se-Hoon Park, Yun-Jung Lee

Proceedings Volume 6042, ICMIT 2005: Control Systems and Robotics; 60423H (2006) https://doi.org/10.1117/12.664706
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China

Abstract

This paper presented a novel bio-mimetic quadruped walking robot with 2-DOF (Degree Of Freedom) waist joint, which connects the front and the rear parts of the body. The waist-jointed walking robot can guarantee more stable and more animal-like gait than that of a conventional single-rigid-body walking robot. The developed robot, called ELIRO-II (Eating LIzard RObot version 2), can bend its body from side to side by using 1-DOF passive waist joint while the legs is transferred, thereby increasing the stride and speed of the robot. In addition, ELIRO-II has one more active DOF to bend its body up and down, which increases the mobility in irregular terrain such as slope and stairs. We design the mechanical structure of the robot, which is small and light to have high mobility. This research described characteristics of the 2-DOF waists joint and leg mechanism as well as a hardware and software of the controller of ELIRO-II.

Citation Download Citation

Kyoung-Ho Kim, Se-Hoon Park, and Yun-Jung Lee "Development of biomimetic quadruped walking robot with 2-DOF waist joint", Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423H (2 May 2006); https://doi.org/10.1117/12.664706

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