Control of a Tripedal Robot Walking with a Shuffle

• Torii Akihiro

  Faculty of Engineering, Aichi Institute of Technology

• Ueda Akiteru

  Faculty of Engineering, Aichi Institute of Technology

• Doki Kae

  Faculty of Engineering, Aichi Institute of Technology

Bibliographic Information

Other Title

• すり足動作する三足ロボットの制御法
• スリアシ ドウサ スル 3ソク ロボット ノ セイギョホウ

Abstract

This paper describes a control method for a tripedal robot, which walks with a shufffle. The robot consists of three electromagnets and three piezoelectric elemens. The electromagnet supports the robot as a leg. Two ouf of three electromagnets adheres to an magnetic floor and the other electromagnet moves 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.

Journal

• IEEJ Transactions on Electronics, Information and Systems

  IEEJ Transactions on Electronics, Information and Systems 129 (3), 467-474, 2009

  The Institute of Electrical Engineers of Japan

Keywords

• tripedal robot
• walking pattern
• control method

Details

• CRID: 1390282679582979968
• NII Article ID: 10024774348
• NII Book ID: AN10065950
• DOI: 10.1541/ieejeiss.129.467
• ISSN: 13488155
• ISSN: 03854221
• NDL BIB ID: 10182314
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10182314
• Web Site: https://www.jstage.jst.go.jp/article/ieejeiss/129/3/129_3_467/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed