2 Legs Robot 3

HR-V1
The framework of the robot is made of 3mm acryl-sheets where
the different parts got cut out. Alltogether there are 14 servos,
but only 12 degrees of freedom (DOF). In the hip, two servos per
leg are working together in one movement
http://www.austrobots.com/

Spring Turkey

Spring Turkey was designed and built by Peter Dilworth and Jerry
Pratt in 1994. It has an actuated hip and knee on each leg.
An unactuated boom constrains Spring Turkey's roll, yaw, and
lateral motion thereby reducing it to a two dimensional robot.
All of Spring Turkey's motors are located in its upper body, with
power being transmitted to the joints via cable drives. Series
Elastic Actuation is employed at each degree of freedom, allowing
for accurate application of torques and a high degree of shock
tolerance. The maximum torque that can be applied to the hips is
approximately 12 Nm while approximately 18 Nm can be applied
to the knees. The force control bandwidth we achieve is approximately
20 Hz. Spring Turkey weighs in at approximately 22 lbs (10 kg) and
stands 2 ft (60 cm) tall.
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RunBot

RunBotRunBot is a biomechatronic design. It has achieved a relative
walking speed of 3.5 leg-lengths per second, which is much faster
than the current world record of biped walking robots, 1.5 leg-lengths
per second, and is even comparable to the fastest relative speed of
human walking. Unlike other biped robots using various model-based
controllers, RunBot's mechanical structure is directly driven by
motor-neurons of its neuronal controller, which is analogous to what
happens in human and animals' walking. In summary, neural
computation and physical computation work together to generate
RunBot's fast and adaptive walking gaits.
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2 Legs Robot 2

Bipedal Autonomous Robot BARt-UH

Each leg of BARt-UH is composed of three joints, the hip joint,
the knee and the ankle resulting for a total of six degrees of freedom
for the robot. The motion of BARt-UH is restricted to the sagittal
plane. BARt- UH is able to perform statically and dynamically stable
walking. The power supply for autonomous walking, as well as
the power circuits for driving the joints reside on top of the robot.
http://www.irt.uni-hannover.de/irt/asr/bart_alt-en.html

The UNH Biped Robot

The biped hardware developed at UNH is shown above. The goal
of the ongoing ARPA/ONR sponsored research is to develop
strategies for the control of static and dynamic balance during two
legged walking based on a hierarchy of simple gait oscillators,
PID controllers and neural network learning, but requiring no
detailed dynamic models.
http://www.ece.unh.edu/robots/robotour.htm

LISA

LISA has twelve active degrees of freedom. All axes are actuated
by DC motors with harmonic drive gears and are equipped with
incremental encoders for the servo control feedback. Each leg has
two rotatory degrees of freedom (DOF) in the ankle, a revolute
joint in the knee and a ball-and-socket-like hip joint with three rotatory
DOF. The hip has been built as a spherical parallel manipulator
(see below). Thus, the legs are lightweight, quick and have nearly
the workspace (region of movability) of a human leg.
http://www.irt.uni-hannover.de/irt/asr/lisa-en.html

2 Legs Robot 3

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2 Legs Robot 1

Bipedal walking robot

The DOF is 10 at this point. Some kind of parallel link mechanism is
applied to the joint of the ankle. The shape of the contact to
the ground is changed from line to plane. The robot could get to walk
statically with this modification. But the servos are broken from over
load. It seems that the torque was not enough to support the weight
of the robot.
http://www2.plala.or.jp/k_y_yoshino/2legs1/2legs1_top_e.html

Bipedal Walking Robot Lucy

The goal of this project is to create a lightweight biped which is able
to walk in a dynamical stable way. The configuration of this biped is
anthropomorphic focusing on the lower walking part which is
composed of two articulated legs. The robot, all included, weighs
about 30 kg and is 150cm tall. This robot is restricted to move only
in the sagittal plane due to it’s one dimensional joints of which each
of them are powered by an antagonistic pair of Pleated Pneumatic
Artificial Muscles. These muscles are lightweight pneumatic actuators
which work at low pressures and can be directly coupled without
complex gearing mechanisms. The adaptable passive behaviour
of these actuators will be exploited in the walking algorithms.
http://lucy.vub.ac.be/gendescription.htm

NUSBIP

NUSBIP is a lif-sized humanoid robot with 20 degrees-of-freedom
(DOFs) in total. It has 6 DOF on each leg and 5 DOF on each arm.
It was modelled after the size of a 10-year old child. This robot is
built to serve as a test bed for research on bipedal walking.
http://guppy.mpe.nus.edu.sg/legged_group/index.htm

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Hexapod Robot Leg

Some Thoughts on Robot Leg Types

which incorporate a parallel link to keep the distal segment vertical,

the rigid link can be replaced with a spring. This will allow the link to
extend as the leg moves back, and contract again as it rotates past
the midpoint of the stride. Another possibility would be to make
the proximal leg segment compliant rather than the parallel link, but
I think this would be more difficult to construct. As in the higher
tetrapod leg type, the arthropod type functions pretty well even
without the compliant link. But under conditions where traction is
critical, such as climbing a slope, or on certain types of carpet,
I think the compliant link would really result in superior performance.
The biggest obstacle to implementing it is finding a spring with
the right characteristics for a robot of a given size and power.
http://home.att.net/~jZeissig/LegTypes.html

ENTOMOLOGY Robot Leg

We have used equivalent mechanical and electrical Sensors on
the robot to mimic the information provided by the biological Sensors
found in insects.
http://vision.ai.uiuc.edu/jmh/entomology.html

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4 Legs walking robot 4

Quadlator II

The quadruped robot Quadlator II has 4 legs, and total 12 joints.
It was made from aluminum, with total 17Kg weight. With
stretched posture, the length from hand-tip to foot tip is 1.26m.
The width of its shoulders is 0.38m. The length of each leg is
0.25m. It can walk in crawl gait at speed of 2m/min. There are
3 joints for each leg. and there isn't any foot-like mechanisms
(end-effectors). As well as walking, Quadlator II can also
stand on its knees like human being and performs some
operation with the 2 free hands.
http://liuxinyu95.googlepages.com/robot.quad2

Nico

Nico is a quadruped robot which is based upon principles
of 4-legged locomotion illustrated in nature. The background for
Nico's basic body plan and leg design can be found on
our page about locomotion in 4-legged creatures. The present
implementation is a greatly simplified form of nature's own plan,
but one which can still perform movements in a similar
manner. Nico's purpose is the study of various gait possibilities.
http://www.oricomtech.com/projects/nico.htm

AMOS-WD02

AMOS-WD02 (Advanced MObility Sensor-driven Walking Device)
is a simple platform for experiments with neural perception - action
systems. This walking machine has 4 legs, each with 2 degrees
of freedom, and one back joint referring to the morphology of
salamanders. In addition, this machine has IR-Sensors and
auditory Sensors for different reactive behaviour; e.g. obstacle
avoidance and sound tropism.
http://www.chaos.gwdg.de/~poramate/AMOSWD02.html

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4 Legs walking robot 3

TITAN VII

we have started to develop a mobile robot which can play a role

as a mobile platform on the rugged and steep slope under
construction. For the basic structure, we selected the walking style,
because it can avoid obstacles and the leg can be also used as
a powerful manipulator. And we adopted a quadruped, because
four is the minimum number of legs to achieve a statically stable walk.
http://www-robot.mes.titech.ac.jp/robot/walking/titan7/titan7_e.html

Hyperion

The character of Hyperion is, first, that it has only 3 DOF and
is very light. Usually, a multipedal robot has 3DOF per leg, but
Hyperion uses the least DOF needed for static walk.
The first plan was to have 4 DOF, as shown in Fig
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Roller-Walker

Leg-Wheel Hybrid Walking Vehicle
there are many studies about leg-wheel hybrid mobile robot
because walking robot has high terrain adaptability on irregular
ground but wheeled robot takes advantage of moving speed
on smooth terrain. In the past, active wheels were often used
for wheeled locomotion. However installation of active
wheels restricted walking machine's ability very much. Because
active wheels need actuators, brake mechanism and steering
mechanism. This equipment is so heavy and bulky that
it's not practical solution for walking robot which has many
degrees of freedom. Proposed hybrid mobile robot named
"Roller-Walker" is a vehicle with a special foot mechanism
which changes between feet soles for the walking mode and
passive wheels for the wheel. (Photo 2(a),(b)) Roller-Walker
can utilize the installed actuators for walking, so additional
weight is very light. The wheeled locomotion is based on the
same principle of roller-skating. more

PROLERO

PROLERO is a PROtotype of LEgged ROver, also known as
WAlking RObot for Mars Applications (WAROMA). The concept
of WAROMA was developed in the ESA A&R group and a prototype
of it was built by PROLERO Industries (NL) on ESA contract.

http://www.esa.int/TEC/Robotics/SEMWECVHESE_2.html

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