Abstract
Mechanics and control system of four-legged walking machine LAVA has been developed in the Robotics Research Laboratory in NTU — Singapore. In this machine the novel leg design was applied — Zielinska and Heng (2000). Elaborated by author control system allowed analyse of LAVA motion properties and therefore it was possible to confirm assumptions done in the design phase. In this paper discussion of selected design problems in relation to the features of real device is given.
CATID, Warsaw University of Technology (WUT) supported the work on this manuscript, the design work on LAVa prototype has been supported by RRC, NTU Singapore
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Debao Zhou, Low, K.H., Zielinska,T. (2000) An efficient foot-force distribution algorithm for quadruped walking robot. Robotica, 18, 403–413.
Hirose S. (1984) A study od design and control of a quadruped walking wehicle. Int. J.of Robotics Research, 3 (2), 113–133.
Naua, P., and Waldron, K.J. (1995). Energy comparision between trot, bound, and gallop using a simple model. Transactions ofASME, vol. 117, 466–473.
Pfeiffer, F., Eltze, J. and Weidemann, H.J. (1995). Six-Legged Technical walking considering biological principles. Robotics and Autonomous Systems, no. 14, 223–232.
Shaoping Bai, Low, K.H. and Zielinska, T., (1999) Quadruped free gait generation for straight-line and circular trajectories. Advanced Robotics, 13, 513–538.
Zielinska, T., and Heng J. (2000). Development of walking machines: novel leg design and control. In Morecki, A., Bianchi, G., Rzymkowski, C., eds., Proceeding of the 13 m CISM-IFToMM Symposium Springer Verlag 323–329.
Zielinska, T. (2000) Efficiency analysis in the design of walking machines. Journal of Theoretical and Applied Mechanics, 3 (38), 693–708.
Zielinska T.: Synthesis of Control system–Gait Implementation Problems. 4th Int Conf. on Climbing and Walking Robots. Professional Eng. Publishing, London 2001, pp. 489–496.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2002 Springer-Verlag Wien
About this chapter
Cite this chapter
Zielinska, T. (2002). Analysis of Quadruped LAVA Features: Speed, Energy Efficiency and Selected Motion Abilities. In: Bianchi, G., Guinot, JC., Rzymkowski, C. (eds) Romansy 14. International Centre for Mechanical Sciences, vol 438. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2552-6_52
Download citation
DOI: https://doi.org/10.1007/978-3-7091-2552-6_52
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-2554-0
Online ISBN: 978-3-7091-2552-6
eBook Packages: Springer Book Archive