Abstract
This paper deals with a new type of 4-leg locomotion mechanism with jack-type legs. This research aims at developing the locomotion robot for heavy load transportation. The jack-type leg can hold heavy load without active control by actuator and lift up it by small power. The proposed mechanism achieved the locomotion by crawl step that forwards a leg by twisting the waist. As the experimental results, the developed prototype walked at 0.001m/s and held the load of 45 kg. This paper introduces the basic ideas and mechanism of robot with the proposed jack-type legs and discusses the basic performance of developed prototype.
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© 2006 Springer-Verlag Berlin Heidelberg
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Ishihara, H., Kuroi, K. (2006). A Locomotion Robot for Heavy Load Transportation. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_108
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DOI: https://doi.org/10.1007/3-540-26415-9_108
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26413-2
Online ISBN: 978-3-540-26415-6
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