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Multifunctional walking quadruped

Published online by Cambridge University Press:  21 November 2002

T. Zielinska  and
John Heng
T. Zielinska
Affiliation:
Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics, ul.Nowowiejska 24, 00–665 Warsaw (Poland). [email protected]
John Heng
Affiliation:
Nanyang Technological University (NTU), Singapore. [email protected]
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Abstract

A multifunctional 4 legged walking machine that is being developed in the Robotics Research Centre (NTU) is described. The major factors influencing the design requirements include minimisation of the weight of the machine and maximisation of workspace of the legs. The designed walking machine can adopt a variety of configurations, such as insect, mammalian, reptile or human. The device is invertable (i.e. can turn over). It can use its legs as manipulators, hence it can perform basic pick-and-place functions. A control system was built using the QNX real-time operating system platform. The software was designed using the client-server approach.

Keywords

Omni-directional walking machineQuadruped robotWalking machine design
Type
Research Article
Information
Robotica , Volume 20 , Issue 6 , November 2002 , pp. 585 - 593
Copyright
© 2002 Cambridge University Press

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