Motion analysis and experiments of passive walking robot QUARTET II

• DOI: 10.1109/robot.2000.846491
• Publication Date: 2002-11-07T21:07:59Z
• Authors: K. Osuka; K. Kirihara
• Keywords: Legged robot

In this paper, passive walking of the eight-legged robot QUARTET II that has simple straight legs, and is also constrained to have two degrees freedom for simplicity its motion, described. The legged can continue walk down a slight slope steadily without any actuation if appropriate initial conditions are given. Since no control input, except gravitational torque, applied robot, more natural gaits compared with those conventional actuated robots expected. simulation, trajectory stability bifurcation occurs along increase angle finally leads chaotic gait discussed. experiment, some kind be observed.