Development of Quadruped Walking Robot TITAN-VIII for Commercially Available Research Platform.

摘要

Formerly, researchers who want to enter into the field of experimental study of walking robots, had to design and construct the walking robot by themselves, because commercially available walking robots are almost none on the market. This fact has been a greatest harrier for the popularization of the research on walking robots. Based on this present research circumstances. the authors have developed commercially available quadruped walking robot TITAN-VIII. TITAN-VIII was designed to acquire the characteristics of high performance of the movement, low price, simplicity of the treatment, and ability of functional extension so as to realize above mentioned objective. TITAN-VIII introduced some new mechanisms such as modular mechanism. wire drive system and so on. In this paper, we discuss about the design of TITAN-VIII, and show results of walking experiments.