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Quadruped walking robots at Tokyo Institute of Technology

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9 Author(s)
Hirose, S. ; Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Tokyo ; Fukuda, Y. ; Yoneda, K. ; Nagakubo, A.
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In this article, the design principle of the leg driving mechanism to minimize energy loss and maximize output power is discussed. We will also introduce the gait control methods implemented in our previous quadruped walking robots. Finally, we will survey most of the prototype models of our quadruped walking robots.

Published in:

Robotics & Automation Magazine, IEEE  (Volume:16 ,  Issue: 2 )