Walking-Assist Principle Analysis for a Multi-Legged System

Analysis of Six-legged Walking Robots

In the present paper, an attempt has been made to carry out kinematic and dynamic analysis of a six-legged robot. A three-revolute (3R) kinematic chain has been chosen for each leg mechanism in order to mimic the leg structure of an insect. Denavit–Hartenberg (D-H) conventions are used to perform kinematic analysis of the six-legged robot. The direct and inverse kinematic analysis for each leg ...

Controller for a four legged walking machine

In this paper we describe a controller for 4-legged robot locomotion implemented on a 4-legged walking machine. This controller uses a ring of coupled nonlinear oscillators. It is very e cient, needing no software and only a small number of components to guarantee coordination between the leg movements leading to walking. We explain how inter-leg coordination is achieved and we show data which ...

Development of Multi-legged Passive Dynamic Walking Robot

This research realizes and analyze Multi-legged Passive Dynamic Walking(PDW). Although various PDW studies have been conducted based on its interesting features, most of them dealt with bipedal robots. There are many kinds of multi-legged creatures, not only quadrupedal animals but also creatures with more than six legs. In this paper, we focus on a “Multi-legged PDW,” which is a PDW with more ...

A biologically inspired four legged walking robot

Kinematic and Gait Analysis Implementation of an Experimental Radially Symmetric Six-Legged Walking Robot

As a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. An experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. The kinematic and gait analysis formulations are demonstrated by an e...