A Novel Design of a Quadruped Robot for Research Purposes

被引：8

作者：

Geva, Yam ^{[1
]}

Shapiro, Amir ^{[1
]}

机构：

[1] Ben Gurion Univ Negev, Dept Mech Engn, IL-84105 Beer Sheva, Israel

来源：

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2014年 / 11卷

关键词：

Quadruped Robot; Robot Design; Research Platform; LOCOMOTION; WALKING;

D O I：

10.5772/57351

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents the design of a novel quadruped robot. The proposed design is characterized by a simple, modular design, and easy interfacing capabilities. The robot is built mostly from off-the-shelf components. The design includes four 3-DOF legs, the robot body and its electronics. The proposed robot is able to traverse rough terrain while carrying additional payloads. Such payloads can include both sensors and computational hardware. We present the robot design, the control system, and the forward and inverse kinematics of the robot, as well as experiments that are compared with simulation results.

引用

页数：13

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