Control of a Tripedal Robot Walking with a Shuffle

被引：2

作者：

Torii, Akihiro ^{[1
]}

Ueda, Akiteru ^{[1
]}

Doki, Kae

机构：

[1] Aichi Inst Technol, Fac Engn, Aichi, Japan

来源：

ELECTRICAL ENGINEERING IN JAPAN | 2011年 / 177卷 / 04期

关键词：

tripedal robot; walking pattern; control method;

D O I：

10.1002/eej.21192

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper describes a control method for a tripedal robot which walks with a shuffle. The robot consists of three electromagnets and three piezoelectric elements. The electromagnet supports the robot as a leg. Two of the three electromagnets adhere to a magnetic floor and the other electromagnet is moved by the deformation of the piezos. The relation between the control waveforms and the robot motion is described theoretically. The theoretical displacement of the robot is calculated. The piezo deformations which move the robot to the destination are obtained. The control waveform is determined by the piezo deformations. (C) 2011 Wiley Periodicals, Inc. Electr Eng Jpn, 177(4): 33-41, 2011; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.21192

引用

页码：33 / 41

页数：9