Design of a Quadruped Robot for Motion with Quasistatic Force Constraints

摘要: This paper presents a novel design of four-legged “spider” robot capable moving in wide range two-dimensional tunnels. The moves quasistatic manner, by stably bracing itself against the tunnel walls while its free parts to next position. has been strongly influenced recent immobilization theory Rimon and Burdick (1998a, 1998b). dictates minimum number limbs such mechanism can have, as well curvature footpads. class geometries other key parameters robot, limb dimensions degrees freedom each limb. We review relevant components describe implications for design. Then we our choice robot. spider-like will move under worst-case assumption slippery walls, also locomotion strategy this assumption. Finally, an immobilization-based control algorithm executing motion strategy. built, experiments verifying robustness with respect leg-placement errors are described.