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

4 Legs Robot 4

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4 Legs walking robot 2

Spyder

Spyder is an 8 motor, 4 leged walking robot. It uses a 16 Nv network
with a 4 Nv loop, and four 3 Nv branches attached to each Nv of
the loop. It features 4 legs, which can lift and drop, as well as
extend and retract.

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This is 4 legged walking robot with CCD camera on its head.
It has 3 D.O.F on each legs and 2 D.O.F on the head. The main
behaviors of the robot consist of walking and posing, such
as standing, bowing, sitting-on, streching, leaning, lifting a leg and
so on.

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Quadruped Walking Robot for Outdoor Environments

In spite of rapid development in robotic technologies, living creatures
are still superior to robots existing currently in various aspects.
Thus, it is necessary to understand the principles underlying the
motions and behaviors of biological subjects for the control
of robots. Mimicking living creatures currently becomes one of the
worldwide trends for robotic innovations. It is considered as one of
the most adequate way of developing a robot since biological systems
provide a number of useful ideas concerning the control of robots.
Recently, robotic researchers as well as biologists propose
innovative ideas for the control of the walking robot system.
Among several ideas, mimicking the rhythmic motion of animals
is one of the most promising ways to control the walking robot
system. By studying on this, the locomotion of the walking robot
can be close to that of the real animal.

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Waltz

Waltz is a 4 Legged Walking Robot that I have been working
on since 1995. The name Waltz came from the musical term of
the rythm of 3 beats over quater notes, since the robot has
3 servo motors on each of 4 legs.
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4 Legs Robot 3

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4 Legs walking robot 1

4-legged spider

4-legged spider is gait was actually more like a shuffle.
Two legs moved at a time; the front and back reach forward
while the sides balance the robot, then the front and
leg balance while placeing the side legs forward.
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SILO4 walking robot

The SILO4 is a compact, modular and robust robot of about
30 kg, which is capable of negotiating irregular terrain,
surmounting obstacles up to 250 millimetres tall and
carrying about 15 kilograms in payload at a maximum
velocity of about 1.5 meter per minute.
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No CPU Walker

Type: 4 leg 2 motor walker
Purpose: proof of a concept
Controller: hardwired
Actuators: 2 motors from teddy ruxpin
Power source: 4 AA for motors
Operational description: two motors and two DPDT switches.
The motor drives the legs. When the legs reach the farthest
rotation they trip the DPDT switch which reverses the other motor.
The combination of motors and switches causes the cycle: motor 1

forward, motor 2 forward, motor 1 backward, motor 2 backward,
and repeat.
Future Enhancements/Plans: I plan to add a waist motor for steering.
http://www.tcrobots.org/members/rwhil.htm

Kinematics of 4 Legs walking robot

The robot has 4 legs each of which has 3 actuators, Figure 1.
The legs inverse kinematics allows for 2 positions of the knee joint:
backwards and forwards. For simplicity the trajectories that we
consider in the project do not assume a switch betwene
backward and forward knee positions.
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4 Legs Robot 2

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