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Development of Hydraulically Actuated Hexapod Robot as Disaster Recovery Assistance Robot

S. Imamura, R. Namiki, A. Haneda, D. Fujiwara, K. Nonami

Abstract


This paper presents a fast walking mode trajectory and new structure development of hydraulically driven hexapod robot named COMET-IV. Fast walking mode trajectory is proposed based on the robot limitation and supported with the proposed 2-DOF PID controller. This proposed fast walking mode trajectory and control is verified via simulation. On the other hand, a new gripper structure is designed to replace a foot for two of the six legs. This proposed structure development is expected to be applied for the disaster recovery assistance on cleaning the high loaded and large wasted such as bricks and timbers.

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DOI: http://dx.doi.org/10.21535%2FProICIUS.2011.v7.404

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