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The longest walk by a passive walking robot
No full textLongest walk by a passive walking robot is 16.3 km (10.13 miles) and was achieved by the robot designed and built by Walking robot research team at Future University Hakodate (Japan) in Hakodate, Hokkaido, Japan, from 13 to 17 September 2011.
\nIn its walk on a treadmill, the passive walking robot made 900,000 steps. The walk lasted for a total of 100 hrsThe achievement set by the authors' academic activity (Guinness World Records(TM)).http://www.guinnessworldrecords.com/world-records/longest-walk-(distance)-by-a-passive-walking-robo
Gait Design by Graph Coloring for Robots That Have Legs on Their Faces
No full textThis paper proposes a gait design method for robots that have legs on their faces. The method is based on a graph coloring problem in the theory of graphs. Representing a structure of a robot as a graph on a sphere, it is shown that the number of phases of movements needed for a leg is given as a minimum chromatic number of that graph. Also the allocation of an initial phase for each leg is given by a specific coloring pattern. For the demonstration of an actual hardware construction, we show a 12 legged square prismatic robot in which all the legs are driven by a row of gears.doi: 10.1109/AIM.2015.722251
Passive Sole Constraining Method to Stabilize 3D Passive Dynamic Walking
Get PDFInspired by the function of a toe and a lateral arch of a human foot, we propose a method to stabilize the biped walk by attaching unactuated toes and lateral arches. The toes and lateral arches work as adaptive braking of sagittal and lateral directions. They touch on the ground at the angle where the biped exceedingly inclines. After touching on the floor, the center of rotation changes at the landing positions. This change causes the reduction of the exceeding angular velocities toward sagittal and lateral directions. By setting appropriate heights of the toe and lateral arch during the swing phase, the walking robot is expected to be stabilized. To analyze the effects of the toe, we derived equations of motions and the state transition functions for a simplified 3D passive dynamic walker with toes. We clarified the potential stabilizing effect of the method from numerical simulations and preliminary experiments by a real-world biped with toes. Note that the proper setting of heights and the verification of the effect of lateral arches are on the way
