Skip to content
University of Maryland LibrariesDigital Repository at the University of Maryland
    • Login
    View Item 
    •   DRUM
    • A. James Clark School of Engineering
    • Institute for Systems Research Technical Reports
    • View Item
    •   DRUM
    • A. James Clark School of Engineering
    • Institute for Systems Research Technical Reports
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    The Design of a Three-Degrees-of-Freedom Walking Machine.

    Thumbnail
    View/Open
    TR_89-60.pdf (449.1Kb)
    No. of downloads: 484

    Date
    1989
    Author
    Tsai, L.W.
    Chen, Jie
    Azarm, Shapour
    Metadata
    Show full item record
    Abstract
    The walking machine presented in this paper consists of six walking legs arranged in a triangular configuration. Each leg may have two modes of operation: an elliptical mode for walking on a flat plane and a circular mode for stair climbing. The six legs are mechanically coupled to a single drive motor through the use of chains and sprockets. the coupling is arranged in such a way that three of the six legs, one from each corner of the triangle, are always in phase while the other three are 180 degrees out of phase. When walking, three of the six legs are always on the ground propelling the machine forward, while the other three are in the air in an opposing position rotating forward. Turning is achieved through the use of a two degres-of-freedom mechanism. Through the use of a prismatic joint, the body of the machine can be lifted up-anddown, and through the use of a revolute pint, it can be rotated to any desirable orientation. The result is a simple, three degrees of freedom, walking machine that is capable of walking on a flat plane and performing some limited stair climbing. Because of the simple construction, the control system is also extremely simple and fast locomotion may be achieved for a small sacrifice of flexibility.
    URI
    http://hdl.handle.net/1903/4903
    Collections
    • Institute for Systems Research Technical Reports

    DRUM is brought to you by the University of Maryland Libraries
    University of Maryland, College Park, MD 20742-7011 (301)314-1328.
    Please send us your comments.
    Web Accessibility
     

     

    Browse

    All of DRUMCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

    My Account

    LoginRegister
    Pages
    About DRUMAbout Download Statistics

    DRUM is brought to you by the University of Maryland Libraries
    University of Maryland, College Park, MD 20742-7011 (301)314-1328.
    Please send us your comments.
    Web Accessibility