Mechanism and control of a quadruped walking robot

The quadruped walking robot called TURTLE-1 is described. A novel link mechanism named ASTBALLEM is used to construct highly rigid and easily controllable legs. Each leg has two degrees of freedom and is driven by two DC servomotors. The motion of the legs is controlled by a microcomputer, and various gaits are generated so that the robot walks not only statically but also quasidynamically. When the walking mode is static, the center of gravity of the robot is kept statically stable. When it is quasidynamic, a two-legged supporting period is required.<
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