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Multi-leggedrobots
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28.01.09 Presentation on multi-legged robots by Sewan Aleanakian, 2008 2
Table of contents ● Introduction● Different types of multi-legged robots● Different gaits● Special examples
– BigDog– StriDER
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28.01.09 Presentation on multi-legged robots by Sewan Aleanakian, 2008 3
Multi-legged robots● Walking robots● Very flexible● Can travel where wheels or tracks would fail● Climbing is possible
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28.01.09 Presentation on multi-legged robots by Sewan Aleanakian, 2008 4
Different types ofmulti-legged robots
● Hexapods (six legs)– Most common type of legged robot– Simple in design and control
● Tetrapods (four legs)– Dynamic motion should be used because of fewer
legs● Bipeds (two legs)
– Mostly humanoid robots
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28.01.09 Presentation on multi-legged robots by Sewan Aleanakian, 2008 5
Different gaits● Hexapods
– Wave gait (one leg at a time)– Ripple gait– Tetrapod gait
● Tetrapods– One leg at a time– Dynamic walking (BigDog)
● Tripods– Actuated passive dynamic locomotion (STriDER)
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28.01.09 Presentation on multi-legged robots by Sewan Aleanakian, 2008 6
Wave gait● Only one leg moved at once● Robot always stands stable on five legs● Slowest but most stable gait
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Wave gait
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Ripple Gait● Two legs are moved at once (or shortly after
each other)● Four standing legs● Faster than wave gait but still very stable
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Ripple Gait
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Tripod gait● Two groups of legs, each with three legs,
alternately● Three legs moving, three legs standing● Fastest stable hexapod gait
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Tripod gait
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One leg at a time● One leg moving, three standing● Only stable gait for tetrapods● Slow but simple and stable
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One leg at a time
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BigDog
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28.01.09 Presentation on multi-legged robots by Sewan Aleanakian, 2008 15
BigDog● Most advanced tetrapod robot● Height: 0,7 m● Can carry up to 150 kg● Hydraulics powered by gasoline engine● Very fast through dynamic motion● Can recover from stumbling
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BigDog
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STriDER
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28.01.09 Presentation on multi-legged robots by Sewan Aleanakian, 2008 18
STriDER● Self-excited Tripedal Dynamic Experimental
Robot● Height: 0,9 m (Version 2) / 1,8 m (Version 1)● Very energy efficient through actuated passive
dynamic motion● Tall (good for sensors)● Simple concept
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STriDER
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28.01.09 Presentation on multi-legged robots by Sewan Aleanakian, 2008 20
Thanks for your attention
Any questions left?