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19 October 1987 Mechanism And Control Of The Quadruped Walking Robot
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This paper provides a description of the quadruped walking robot "TURTLE-1". A new link mechanism named ASTBALLEM is used for the legs of this robot. With this mechanism highly rigid and easily controllable legs are constructed. Each leg has two degrees of freedom and is driven by two DC servo motors. The motion of the legs is controlled by a micro computer and various gaits are generated. Static stability is maintained as the robot walks. Moreover, its walk is quasi-dynamic; that is, it has a manner of walking that has a two legged supporting period.
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Hironori Adachi, Eiji Nakano, and Noriho Koyachi "Mechanism And Control Of The Quadruped Walking Robot", Proc. SPIE 0856, IECON '87: Industrial Applications of Robotics & Machine Vision, (19 October 1987);

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