PANTER - prototype for a fast-running quadruped robot with pneumatic muscles

被引：0

作者：

Albiez, JC ^{[1
]}

Kerscher, T ^{[1
]}

Grimminger, F ^{[1
]}

Hochholdinger, U ^{[1
]}

Dillmann, R ^{[1
]}

Berns, K ^{[1
]}

机构：

[1] Univ Karlsruhe, Forsch Zentrum Informat, Karlsruhe, Germany

来源：

CLIMBING AND WALKING ROBOTS: AND THEIR SUPPORTING TECHNOLOGIES | 2003年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes the first steps in the development of a running mammal-like robot. Starting from a leg-construction inspired by the archetypical leg of mammals a special closed-loop control concept is introduced, which supports the antagonistic control principles. As actuators fluidic muscles are used. The paper ends with a summary of tests for the determination of the leg's dynamical parameters as well as a outlook of a concept for the running robot.

引用

页码：617 / 624

页数：8

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