Proceedings of the KSME Conference (대한기계학회:학술대회논문집)

The Korean Society of Mechanical Engineers (대한기계학회)
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Development of quadruped walking robot with insectile leg

곤충형 다리구조의 4족 보행로봇의 개발

  • 안영명 (서일대학 자동차과) ;
  • 최기훈 (중앙대학교 대학원 기계공학부) ;
  • 김태형 (중앙대학교 대학원 기계공학부) ;
  • 김영탁 (중앙대학교 기계공학부)
  • Published : 2001.06.27
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Abstract

In this paper, we developed a quadruped walking robot, FRAMIX-T, with insectile leg mechanism and we inspected the efficiency of it in detail. In robotics, the legs of insect type are appropriate for the stability and the agile movement. So we first performed a gait analysis using duty factor, stride, phase etc., and analyzed the stability margin to improve the stability of robot. On the basis of this research, we planned the wave gait suitable for FRAMIX-T and performed a walking experiment. From this result, we proved the high efficiency using insectile leg mechanism and the possibility of walking with improved stability and mobility.

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