Abstract
We are proposing an underwater robot for the work. In this study, we designed the robot, which has body of rectangular plane and 4 legs at each corner. The leg is consisted with parallel mechanism of 2or3 cylinders, and the end of each cylinder is attached on the robot body with free rotational joint and the end of both piston rods are connected with pin joint. 2 cylinder leg’s motion is restricted in forward or backward direction but 3 cylinder leg can move any direction. We are studying the control scheme of walking for this robot, which is putting mind especially on smooth and steady movement without rolling, pitching, yawing or heaving motion and keeping the body horizontally. We confirmed the validity of control scheme with simulation and experiments.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Yaginuma T (2008) Study of autonomouous work control for multiple limbs under water robot. In: Proceedings of the International Symposium on Artificial Life and Robotics (AROB 13), Beppu, Oita, Japan, Jan 31–Feb 2, 2008, pp 734–738
Okawa Y (2007) Introduction to model base development for mechanical design (in Japanese), Omusya
Author information
Authors and Affiliations
Corresponding author
Additional information
This work was presented in part at the 15th International Symposium on Artificial Life and Robotics, Oita, Japan, February 4–6, 2010
About this article
Cite this article
Yaginuma, T., Takesima, T., Shimizu, E. et al. Quadruped walking with parallel link legs. Artif Life Robotics 15, 555–559 (2010). https://doi.org/10.1007/s10015-010-0868-6
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10015-010-0868-6